If you believe that you will testify to information that will incriminate you about an incident for which you have not been charged (and so jeopardy has not attached), then you are within your rights to claim the 5th Amendment and refuse to testify about information that would possibly subject you to criminal prosecution. Expect that the Court would then appoint an attorney at state expense to advise you of your rights. Understand that both the DA and the judge might attempt to ask you why you believe that you would incriminate yourself and what you would say to incriminate yourself. They simply can not ask you the substance of what you are withholding in an attempt to not incriminate yourself. Only your court appointed attorney can ask you that. As a former judge and prosecutor, I have seen both judges and prosecutor forget that and try to get the witness to tell them why the witness is claiming the 5th to see if the 5th Amendment applies to the witness or not. They are simply not entitled to do that. The DA might offer you "use immunity" or "testimonial immunity" for your testimony. That means that they will agree not to prosecute you for anything that you testify about in court. However, the immunity agreement must be in writing and must set out the specifics of the immunity agreement. Of course, if you admit to a crime that has nothing to do with the subject that you are being questioned about (e.g. making a death threat on Rush Limbaugh), that would NOT be covered by the immunity agreement. The attorney appointed for you by the Court should review the specifics of immunity agreement with you to make sure that you are properly protected. The prosecutor might be reluctant to offer you immunity, as they have no idea what you will say on the stand. This is definitely a serious issue. After being called to the stand and sworn in, you should advise the Court of your intention to claim the 5th Amendment and rights within that amendment and ask that the Court appoint an attorney for you.
I agree with my colleague. The point is you have a right to assert the right if there is a potential of incriminating yourself. You can't claim the right because you do not want to testify against a friend for instance. This is normally done in a hearing without the jury. There may be reason they call you anyway to hear you assert the right. Tell the attorney calling you that this is your intention.
Mr. Leroi's answer is very good, but I would add that you would do well to retain an attorney on this matter and have counsel with you when you go to court. It is possible that your attorney can prepare the groundwork ahead of time so that everything will move more smoothly.
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