I'm 16 years old, my parents are kicking me out by November, friends family said I may live with them if legal?

Im 16 years old, I have many beyond profound problems with mother. So I moved in with my stepfather, he hates mebfor reasons having to do mostly with my mom. He's kicking me out in November, I have permision by both parents to move out. My friends family is allowing to move in with them as long as it's legal, so what paper work must I get done that allows Me to move in with them with out problems. I live in the state of new jersey. What must the paper say exactly?