FOSTER CARE INFORMATION?

I just turned 16 june 15th, my parents kicked me out and I was living with my friends for the past 4 days. My parents came and brought me back home and things didn't get any better. I can not stand the site of my father and my mother is a compulsive liar. I do not feel safe living with them anymore and wish to be put into foster care, they both agree on the idea. What is the first step in doing this.