What legal procedures does my incarcerated daughter need in order for her mother to have power of attorney and guardianship of her newborn.

With respect to the Power of Attorney, that is a document that your daughter needs to sign with two witnesses and a notary.  A Power of Attorney does not require any court intervention.An attorney can draft this document for a fairly low fee.  With respect to the guardianship, that requires court intervention.  You would need to file a Petition to Appoint a Guardian with the court in order to receive guardianship of your granddaughter along with various other documents.  You would need to hire an attorney for this or, if you qualify, receive legal assistance from your local legal aid clinic. Wendy Mara mara-maralaw.com