Sex?!! What to do..

Hello! I am 16 years old and am posting anonymously because i don’t want any judgment.. I want to have sex with my boyfriend again, as i have before but we haven’t for a few months because i didn’t want to, and he respected that. we also use condoms and make sure they are used correctly. Only thing is i’m a pretty paranoid person and am always scared of getting pregnant even when we’ve used condoms and the withdrawal method on top of that. i’ve tried asking for birth control from my parents but they won’t allow it. My question is can i rely on the withdrawal method and condoms or should i just wait and continue to not have sex.