This is a tough question but one that I've asked myself plenty of times. I don't think there is a definitive answer that I can write down for you but there are a few questions you should ask yourself prior to leaving your home.
Ask yourself the following:
Why do I want to leave my house and is that good enough reason for me to want to leave?
How do I benefit from leaving my house?
Will leaving the house make it harder for me to succeed (financially, socially, etc)?
Sometimes we're in a really great position at home and we have the ability to stay home and not pay bills (food, rent, utilities, etc) and other times we're forced to leave. It's our job as a young adult to learn to make that decision by weighing out the pro's and con's ( making your own decision and living with it is part of growing up ).
I personally decided to stay home until I was in a good enough position in my life (financially, maturity, education) to be able to support myself without having to ask for assistance from any organization or person. That's the path i decided to take and I could've done a few things differently but that's just part of life. You will make mistakes and you learn to work with them.
Good luck and kudos to you for asking this question!