Birth Control HELP SOS

I recently started dating this guy. I'm 17 (turning 18 in a month!) and he's 19. I lost my virginity to him but I don't regret it at all. He's the best relationship I've ever had and that's not just because of sex. Anyways, he doesn't like condoms. He wears them when we have sex, which I appreciate, but we both know that it would be even more fun if he wasn't wearing one. So I guess my question is that I need to start taking "the pill" and I don't know how to get it. I absolutely CANNOT tell my parents about this. They don't know we've had sex and if they found out they would most likely kick me out of the house. I can drive and I have a job, so all I need to do is drive to the nearest Planned Parenthood and get an exam so they will give me a prescription? Also how much money would that cost in total because it's not very clear online. Help/advice appreciated!! :)