I want to regain custody of my daughter. I have no idea how to petition the court. SHe lives in virginia and I live in South carolina.

You need to get a laywer and fight the issue that had her taken away in the first place. If she lives with a custodial parent, you need to fight for custody (prooving that the other parent is unfit) or fight for partial custody (prooving that you are fit to do so)

Like jenniepepsi said you need to get a Lawyer plus you need to file where the child lives

Do you have any custody tie with the child or were they given up for adoption and/or did you lose your parental rights to the child ? If it's a matter of seeking visitation then a lot is going to depend on how long you have gone without seeing the child or being in contact.

What is your current status ?