Start by being self supporting. Do you have a job? A place to live? If you can at all wait, your best bet is to stay with your parents until you're 18 and save, save, save until that time.
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There is no specific application or petition to "emancipate" yourself. Until you are 18, you are still (legally-speaking) a child who must be governed by your parents. Understand that if you leave the house against your parents wishes, you forfeit your ability to request any financial support from them.
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You need to have a plan to pay for your food, clothing , and shelter. Also, think long range about completing your education and increasing your career potentials.
If this answer is helpful, then please mark the helpful button. If this is the best answer, then please indicate it. Thanks. For further information you should see an attorney and discuss the matter completely. If you are in the New York City area, then you can reach me during normal business hours at 718 329 9500 or www.mynewyorkcitylawyer.com.