If you maintain a permanent residence in Maryland and only travel to Pennsylvania for work part of the year, you would file a Maryland resident state return and report all of your income there.
Because Maryland and Pennsylvania are reciprocal states with respect to wage income, and you are a Maryland resident, the only reason you would need to file a Pennsylvania return would be if your employer withheld Pennsylvania income taxes. In that case, you could file a Pennsylvania return to request a refund.
See this TurboTax help article for more information. If your employer is withholding Pennsylvania taxes, you can submit Form REV-419 to your employer to request an exemption.
See here for a list of all states with reciprocal agreements and this article for further explanation.
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