Scared to have sex .....

Alright ladies I'm in serious need of advice here ..... I'm 17 and still a virgin . I've been with my boyfriend for a while and I want to have sex with him but I'm afraid to . My mother conceived me at a very young age and I don't want the same to happen . I know you can prevent it and have safe sex but I feel like I can't trust anything . Him and I have talked about it and he said we could use a condom and still pull out but I'm still iffy about it . If anyone has a advice to give me please do ! Thank you ladies !