DataGridView-controls can not bind child objects automatically.
If you are working with Win-forms, my suggestion would be to create two Dialog windows.
One is for parent-objects(with a DGV) and another is for child-objects(with a DGV).
When the user opens the parent window, parent objects would be loaded row-wise in the DGV.
Then if the user double-clicks a row on the parent-window, the child-window would be shown up and the child objects of that parent would be populated on the DGV on the child window.
In this way you can keep things clean no matter how deep the parent-child relationships go. Moreover, add, edit, delete, etc. operations would be much cleaner.
You can also use some third-party controls like, HierarchicalDataGridView.