If we are just going to do a "training" (group of friends out having a good time) not a comp. Just an intro for now, we would probably not need permits. To hold an actual competition, then we will need permits for the property, insurance, event license from the county, sponsors, facilities, and more.
For starters, we need to look more at an "Introduction to Competitive Rock Crawling". A basic "how to" or "this is what to expect" to give newby's an idea of what to expect.
The thing that would be nice about doing that at MMSP is it would be a similar surface to the Delta Proving Ground, and would let people know how much better their rigs will stick on a man made surface.