Birth control

I’m 17 1/2 And I’ve been having sex for a while, and recently we had a scare the condom broke and it’s scared me and we bought plan b and everything but I want to get on birth control but I don’t know what kind to get and how to get it with out my parents knowing and it can’t show on my insurance bc I’m on theirs and I’ve heard so many things about different birth controls and I just need help please