Std test questions

I'm so nervous about going for my first std test. I've googled a million times where to go and which tests to get and how much it will cost and how to make sure my parents don't find out. I would prefer to pay for it myself but if I can use my parents insurance to help take it down a notch (which I am covered by) without them finding out what I used it for that would be great! My mom always tells me to ask her first before booking a visit to my regular doctor and I can't tell her this. She was so ashamed of me when she found out I was having sex. I'm just scared... Please be polite and considerate in your comments. Stories about your experiences would help.