birth control under 18?

I'm going on 17 and so far all of my sexual encounters have been with girls so pregnancy wasn't something I had to worry about. I recently started seeing a guy, and while even with contraceptives I intend on using condoms, I would feel way more comfortable to also be on a form of birth control. I know planned parenthood offers the pill under 18, I have insurance but I can't go through my parents. Do any of you have experience with/know about how to go about acquiring it? What costs would be like, etc?