The product of the demon Mazikeen and angel Amenadiel's brief tryst, Azariah is an infernal nephilim. Her mother was not mother material, though, so she was largely raised by her dad (and later by Linda Martin, alongside Charlie). All things considered, she had a happy (if chaotic) childhood. 

Azariah knew that Mazikeen gave birth to her; that was never a secret. But Maze was never much interested in actually being a mom. Linda was a wonderful mother, but she couldn't fix Azariah's abandonment issues, nor could she stop the wild rebellious phase Azariah went through in her teens in an attempt to get Maze's attention and approval.