A person shall hold a permit issued by the municipal authority before the person may lay any pipe or conduit under any public highway in a municipality. The municipal authority shall issue a permit to lay any pipe or conduit under a public highway in the municipality if: The person intending to lay the pipe or conduit submits to the municipal authority an adequate plan for the installation, including the size, type, and location of any pipe or conduit to be laid; and The municipal authority approves the plan. A person shall obtain the approval of the municipal authority for any proposed deviation from the approved plan before the person may deviate from the plan. If a person lays a new pipe or conduit without a permit, or not in accordance with the approved plan or an approved deviation from the plan, the municipal authority shall: Give the person reasonable notice of the violation; and Order the person to remove or readjust any pipe or conduit within a time specified in the order. After the time specified in the order for abating the violation, a person who is served with an order under this section may not violate that order.