Planned parenthood?

So I feel I need to be tested for sti's and just to make sure everything is good down there. I've been having unprotected sex with only my fiancé, but now that I think about it I don't think he's ever been tested either. I do have insurance, but I really don't want to use it because my parents who pay for that insurance would find out in some way and they would be really sad if they knew I was sexually active. Is this something I can go to planned parenthood for? Is it expensive there without insurance ?