In most situations u must be able to support urself, be out of school, and/or be married. You don't have to be married but in some situation it may help. The older u are the easier it is. It is difficult for a 16 yr old to be amancipated but if u wanna try u must talk to a lawyer.
Nor can a minor retain legal counsel.
When legal counsel is needed by a minor person a the court appoints a Guardian Ad Litem.