Best BC for teens living with parents

Jasmine
I'm 17 and living with my parents. I am on my parents insurance plan so therefore I cannot use insurance and have no income at the moment. I would personally like an IUD or arm implant because they are low maintenance and very discrete but I know those cost the most. My parents CANNOT find out I'm on birth control. Will Planned Parenthood help me with cost even if I cannot pay full price?