20 AND NEVER HAVE GONE TO THE GYNO

I have only had one partner, and I'm his only too. But I wanna start taking responsibility for my body and get on BC even. 
I'm almost too scared to do it. In everything I've read, it's starts off as the person living at home being  about 15 and having their mom take them. I live no where near my parents or the rest of my family. Only support I have is me and my boyfriend. 
How do I start going? What do I ask them? What should I expect?