Generally, it is never a good idea to use related parties, especially those who stand to inherit under the estate plan, as witnesses. There probably is less of a problem with using such witnesses for a POA, but prudence would dictate not using them. Finally, your state of MA may have specific prohibitions but since I am not an MA lawyer, no legal opinion can be offered on this. You should consult with an MA estate planning attorney to be sure.
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Massachusetts law only requires a power of attorney to be notarized, with no need for an additional witness. There are times where having unrelated witnesses in addition to a notary may be a good idea, such as where there may be a question of capacity. In any case, I'd stay clear of having a relative as either a notary or a witness.