I am 18 years old and have a 20 month old daughter. I have lived on my own a little over a year now. I pay all my bills and support my daughter and I on my own. I need to get emancipated to have full control over my decisions, finances, and financial help. My mother is in agreement to sign whatever she has to. I simply need to know the steps to take in order to start this process.

What state are you in? In many states being 18 and graduated High School then you are considered emancipated. Some at 18 alone so long as you have full mental capacity then you can make your own decisions and be on your own.

You are 18, you are now an adult and can make your own decisions. Who is telling you that you can't?

You are 18, you are now an adult and can make your own decisions. Who is telling you that you can't?

In some states like New York even though the OP is 18 they may not be fully emancipated under the law. That is why child support in states like New York continue until 21. But in the eyes of the law the OP would normally be emancipated at 18 to the point of signing legal agreements and responsibility under the law.