(a) The Division shall encourage visits by parents or guardians and responsible relatives of juveniles committed to the custody of the Division.
(b) The Division shall develop a program of home visits for juveniles in the custody of the Division. The visits shall begin after the juvenile has been in the custody of the Division for a period of at least six months. In developing the program, the Division shall adopt criteria that promote the protection of the public and the best interests of the juvenile.