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Minnesota laws do not list details about the legal process of how a minor can become emancipated.
Generally, being "emancipated" means that a minor has the same legal responsibilities as an adult.
Minnesota law lists the legal meaning of the words “minor” and “adult.” To read those definitions visit Minn. Stat § 645.451
The Legal Fact Sheet on Emancipation published by Mid-Minnesota Legal Aid gives some basic information about this area of law.
Courts may review emancipation paperwork on a case-by-case basis. However, the courts do not publish forms or instructions to ask for "emancipation", so it is highly recommended that you get legal advice from a lawyer about what paperwork you need and what you should say in your paperwork before moving forward.