The guitarist has teamed up his artist daughter Theodora Richards on a picture book, Gus and Me: The Story of My Granddad and My First Guitar, which is based on his own life.
His grandfather Theodore Augustus Dupree, who was known as Gus, was a jazz musician who introduced the young Richards to music.
He said: "I have just become a grandfather for the fifth time, so I know what I'm talking about. The bond, the special bond, between kids and grandparents is unique and should be treasured. This is a story of one of those magical moments. May I be as great a grandfather as Gus was to me."
The book includes pictures by Theodora - who has the middle name Dupree in honour of her great grandfather - and is described as "a rare and intimate look into the childhood" of the legendary rocker.
She said: "When I found out they wanted me to be a part of this project, my immediate instinct was to say yes, and I am so happy I did.
"To be able to explore my father's relationship with his grandfather was a gift in itself. The things that I've learnt during this whole process have just been life affirming."
Megan Tingley from publishers Little, Brown Books said: "Who wouldn't welcome the opportunity to meet Keith Richards as a young boy? Gus and Me invites readers to be in the room at the electrifying moment that Keith holds a guitar in his hands for the first time.
"We are excited to be bringing this vivid and moving story to children and families and proud to be publishing the debut of talented artist Theodora Richards."
The book will be published as a hardback and ebook later this year.
Richards' previous foray into publishing, his memoir Life, was a best-seller with more than two million copies sold around the world.