Is it legal for a 19 year old and a 16 year old to have a relationship (non-sexual) in the state of missouri if a parent disagrees? And what if the parents do agree?
This really has nothing to do with the First Amendment, and it is not appropriate to provide specific legal advice in this forum, but generally speaking there is no criminal prohibition against people having a non-sexual relationship. However, a minor remains under the control of his or her parents until the age of majority (18). A minor's continued and willful refusal to obey parents can be considered delinquency. An adult who removes a child from parents against their wishes could, in some circumstances be guilty of kidnapping. On the other hand, if the parents accept the relationship, there is no legal prohibition that comes to mind.