John's advice is right on. Having a Handbook is a goal that all teams should be working towards.
They come in all types. I have started and stopped and started and stopped over the past 3 years doing a review of great team handbooks and highlighting different ones that have done a good job at certain sections. I hope to pick this back up, but life keeps getting in the way.
There are quite a few that have contracts and expectations laid out for parents. I talked about this some during workshops here in Maryland (and at World Championship last year). Presentation posted here:
http://www.firstnemo.org/resources.htm on "Parent Involvement". Also, do a search for Handbooks in the white papers here on cd or just google the words "handbook + FIRST."
I got sucked into FRC more than a decade ago as "just a parent" on a team, and I'm still hanging around causing trouble.