Is sex worth it?

My boyfriend and I have been together for a year and a half, and we're both 17. We're both ready to have sex, but I'm really afraid to get caught. We've talked about it, and he's perfectly fine with waiting until whenever I'm ready. We both love and trust each other, and feel physically and emotionally ready to start having sex. I'm just so afraid for some reason. He won't break up with me after we do it, and he's not the kind of guy who will go and tell everyone. I'm on birth control and he has condoms. The only risk is getting caught. Is it worth it? 

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