How to get instance of a script?

I'm animating a child object, so that its position is relative to its parent (an empty GameObject). But when the child dies, I want to notify the parent so it can respawn a new child after randomizing its (the parent's) own position.

So, I've added a script to the empty parent, but I need the child to be able to call a function within that script to start the respawn process.

To send a message upwards though a hierarchy do this:

gameObject.SendMessageUpwards ("Respawn");

On the parent have a function called Respawn()

http://unity3d.com/support/documentation/ScriptReference/GameObject.SendMessageUpwards.html