Can My 16-Year-Old (He'll Be 17 in Feb. 2009) Who Has Left My Home Be Emancipated

My question involves emancipation laws for the State of: Pennsylvania

My 16 year-old son (he'll be 17 in Feb 2009) left home without my consent or permission in order to avoid disciplinary consequences here at home. He went to his biological Mother's house and refuses to return. (This is the 3rd time he's done this.) There is an existing 50/50 court-ordered custody agreement between his Mother and I, which is currently not being followed since he moved out. Mother refuses to return the child, and child will not come out of the house when I go to pick him up. Child is not capable of supporting himself as he has no job or driver's license and no desire to pursue either. An attorney suggested we investigate having him emancipated. Is this possible in our situation? If so, what are the steps necessary for this process?

In PA, whether a minor can be emancipated at all and if so, what are the requirements/procedures depends on the county. We'll need to know what county you are in before we can provide any information.