Losing Virginity

So I'm 15 and my boyfriend of almost a year is 18. And we've done almost everything but have sex. And he's been very patient with me and respects that I don't want to have sex. He's never pressured me into doing anything. But lately I've been thinking about it a lot. I want to have sex with him but with the age issue I don't want him to get introuble. My parents know what we do and they just always tell us to be careful. I love him and trust him a ton. Should I just do it or wait a little longer?