It is legal for a minor to go places with a trusted adult who is not the minor's parent so long as there has been parental consent to do so. Many times minors are placed in the custody of non-parents with the parents' consent.Examples are grandchildren with the grandperants, nieces and nephews with thair aunt or uncle and so forth. With respect to your question, there is nothing illegal to go somewhere with your 24 adult boyfriend with your parents' consent so long as you two obey all laws of the state that you are in including, but not limited to curfew laws.