Should I try sex with my SO?

So my bf and I have been dating for a year and a half.... We've made out and touched each other plenty of times but we've never had sex bc we're scared I'll get pregnant. Well a few days ago I came over his house and he almost put his dick inside me but we stopped because we were like no, I'll get pregnant. Then he came over my house a few days later, put his tip in me for a few seconds but then we stopped again because we didn't want me to get pregnant. We realy want to try sex but both of us are shy about getting condoms because the people seeing us buy it are going to judge us......we're both 15 almost 16.... Should we get condoms or is it best to just wait? Are we too young? I'm also scared of my mom somehow finding out..