How can I get my parents to let me move out and into an apartment?

I am 19 years old, and I really want to move out. I cannot drive, because I have a seizure disorder. I would get bus transportation to and from work once I get a job, I am so sick of living here with them and my 4 younger siblings. I already know how to do my laundry, make my bed, keep my place clean, esp since I clean my bedroom daily. I know how to cook also. How can I get to places like church every week and the store once I move out? I really want this to happen, so can someone tell me how I can get my parents to understand I want to move out and how I can get rides to church every week! best answer gets 10 points!!!