What is the sunnah way to visit graves? Is urs permissible?

“There is no specific Dua prescribed for visiting the grave of a minor child. However, one may recite the general Duas that are reported for visiting graves. Some of these include:”

“The purpose of visiting a grave is to remind us of the hereafter. Hence, one may visit any graveyard with the proviso that it is free of innovations. If people are involved in any form of Bid’aat or Shirk, then one should attend another graveyard that is free of such evil practices.”

“We are encouraged in the Hadith to visit the graveyard as it is a means of us remembering death and the life of the Hereafter. Hence, if there are no sins or bidaat (wrong innovated practices) taking place, then it is permissible to visit the grave and convey rewards to the deceased in accordance to the Sunnah.”

“It is permissible to recite Surah Yasin in the graveyard with the intention of Isaal-e-Thawab for the deceased. However, do not regard the recitation of Yasin by the graveyard as necessary. One may recite any portion from the Quran in the graveyard.”