Where do I start?

My husband is trying to reinstate visitation with his daughter. His parental rights were taken away almost 6 years ago because he wasnt seeing his daughter. His daughter is almost 8 now. We live in the same state, we just dont know her address or where she lives. We dont even know if there is a way for his rights to be reinstated, or where to start. We think we have an email address for her to talk to her, we have tried asking if she will allow it, but she says when the daughter is old enough to make the decision on her own to see her father, thats when she will start to see him again. That could be forever. Is there anything we can do to start this process legally now, or its too late. We are paid current on child support, and since his rights were taken away, there is no current child support to pay. The whole care for the child custody was done in california, and now we live in arizona, do we do it here or there? I dont know where to start or if its possible. Please help.