Debating about him

I wanna experience every loving and caring moment with my bf, and yes im very curious about the physical aspecs of our relationship...but im so concerned about what others would think if they found out...my parents raised me telling me stuff like that os bad and should be saved for marriage and yeah to some extent i agree.....but idk if deep down in my heart i wanna wait that long i really wanna be connected in everyway i can with him.....i need some advice please😭😭