Multiple Families - Same Child Solution

Our Family Ministry Team is inquiring about devising a solution for scenarios where more than one 'family' brings the same child. For example, parents and grandparents both attend church regularly and may be dropping off Child A. If a tag is lost by the grandparents for pick-up when only the parents names print on the tag, we cannot identify that they are the proper people for picking up the child.

They are asking to somehow link Child A to several families, even friends' families in the event that they attend with friends, so that multiple adult names print on each tag. 

Thoughts or help from anyone who may have devised a solution? 

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