need advice

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I have a son that is almost 21 he was diagnosed bipolar around 16 or 17 yrs old. He has had some problems. He went through counseling for substance abuse. He was put on meds. for his bipolar then he decided not to take them anymore. So his Psychologist told us if he did not want to take his meds then he did not want to see him anymore. My son turned to substance and alcohol. He has been in and out of counseling, until he was no longer covered by our insurance. My husband and I were working full time jobs at the same time all this was going on, and we still do. This is not a broken family. We have been married 28 years. My problem is my son is almost 21 he has no high school diploma, no job still lives at home with us. He has been in trouble with the law underage drinking fines, he took our truck with some friends with out permission when he was 17 and no drivers licenses. We did press charges because he left with his friends and went out of state they were all but 1 under 18. So he has a record. He has no self esteem and there are times I ache for him I see that he is hurting then there are times I feel angry at him for not doing more. He could be going to work on his GED But he says I need a job more than that so I can pay off my fines. He's had a job in the past but it was short lived. He keeps making excuses for not getting a GED. and everything else. Sometimes I just want to kick him out of the house. He's not rude or mean to us. He has a good relationship with his older brother and sister. I think he could make something of himself if he tried. There are nights he stays out all night and sleeps all day same cycle over and over again and I have told him he can't find a job that way. He sometimes helps around the house. I just don't know what to do with him finding help for him or programs for someone his age is hard. And I know he's going to want the help. How do I get him on the right track I have heard too that childern do this because we let them. I do not really want to kick him out on the street this is a person and my son.