Is it legal for a minor to make an audio recording of his parents engaging in abuse?
If so, is it also legal once that child is an adult for him to publicize those recordings?
Interested in U.S. law, but if state is necessary use Maryland.
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Per your comment responses, Maryland is a two party consent state which means that the other party must consent to your recording IF there is a reasonable expectation of privacy. In one's own home is generally considered a place where one has this expectation and thus these recordings are problematic. Depending what you intend to do with them, I would first contact a lawyer to get legal advice as to how to handle this before you publish them. If you are looking to file a criminal complaint (and assuming statute of limitations hasn't run out) the prosecutor may be willing to not prosecute you for violating 2 party consent law because you were trying to gather evidence of someone else's crime, but it's not a guarantee (though this will look bad on the prosecutor come election season).
If you are suing your parents it might not be admissible as evidence but I can't specifically say that either.
If you are using it to show other people in the same situation what to look for it's probably best to find another set of recordings as these ones carry a lot of legal issues that will come back to bite you if you release them.
Finally, while not legal, your parents may not want to pursue the criminal recording side of this matter if they are aware of the "Barbra Streisand effect," wherein actions taken to ensure something isn't viewed by the public cause that something to gain wider viewership than if they never bothered trying to censor it.