In a struggle

Hello. I’m having a very hard time. I’m 19 years old and 7 weeks pregnant and have yet to tell my parents. My parents are young, late thirties and they just had another baby 9 months ago. Due to that I am extremely hesitant on telling them. Any one have an idea of an easier way to tell them? I need to go to the doctor soon. (I am a dependent on their insurance). We don’t have the best relationship but it needs to be done. Any advice? Tips? Thanks.