My two daughters father and his parents have custody of my two daaughters . I had visitation rights many years ago that I broke due to having to go to the fathers parents house with them their and treating me really bad. Therefore I have not seen my daughters for like 6 years . I have been to the town they live in and when I do see them the father or his parents put them in the car and leave so I don't get to see them. I don't know what to do. I don't expect the judge to just let me have my girls but would I have a chance at getting visitation rights again ? And if so would it have to be with the fathers parents ?

There's no way to know what/how a Judge will rule. If you lost custody for cause you will have to prove that you have changed your life.

Yes, I would expect that supervised visitation be ordered at the start.