Am I going to jail for taking my car?

I'm 20 and moving 45 mins from home bc my mom is abusive. My step dad is letting me take my car that he gave me when I was 16. My mom called the police and charged me for unauthorized use of the car. The car is paid off and is in her and his name. My name us under the insurance for the car. What's going to happen to me? This is redicoulos