Emancipation: How To Get Emancipated

I live with my aunt and my biological father. When they first got married my biological father cheated on her with her sister. He has had nothing to do with me until i turned 12 when he and my mom decided it was best that me and my brother who was 11 at the time move in with them. Well a year later they decided my brother should move back with my mom. But they wouldn't let me move back. So i asked why and they said because i had more opportunities here, well wouldn't my brother also have more opportunities here? I'm 16 and i work my butt off 24/7, and i want to stay in school. I want to get emancipated but i dont know how to go about it.