How do I let my parents let my boyfriend come over and let me go over to his house?

So my boyfriend and I really want to go to each other’s houses during the summer to hangout. But I’m afraid my parents won’t let me go over because they’ll think I’m trying to have sex with him. We’re both 15 and we’ve been dating for 6 months already. My parents and my siblings met him already and I already met his parents and siblings. My boyfriend and I don’t want to have sec anytime soon and we only want to visit each other’s houses to just spend time together. The thing is that I don’t know how to ask my mom if he can come over and if I can go over to his house. I know both of my parents like him but I don’t know if they trust us being at each other’s houses.