term:

Emancipate

emancipate vt

-pat·ed
-pat·ing
1 : to free from restraint, control, or the power of another
;esp
: to free from bondage [emancipated the slaves] compare enfranchise
2 : to release from the care, responsibility, and control of one's parents compare age of majority, legal age NOTE: The circumstances under which a minor may become emancipated vary from state to state. In many states, however, the marriage of a minor results in his or her emancipation.

Source: Merriam-Webster's Dictionary of Law ©1996. Merriam-Webster, Incorporated. Published under license with Merriam-Webster, Incorporated.