Here’s the state website for information on getting your id:
Anyone applying for a Colorado state ID will need a birth certificate, social security card, proof of address, and $11.50 (cash, check, or money order). If you’re age 18 and up, and have previously had a state ID, you can apply for a replacement ID without an adult, but will still need to take along your birth certificate, social security card, and proof of address (2 forms of proof) when you go. If you got a fingerprint scan when you got your license you may not need all of your vital documents to get a replacement ID.
If you’ve never had an id before, the process is a little more complicated. Depending on what documents you have, you may have to go through the exceptions process. If you still have approved contact with your parents, it is easiest for them to meet you, and maybe your worker, at the nearest DMV to get your id. If you don’t have approved contact with your parents, then your worker will have to help you get your id.