should i have sex?

my boyfriend and i are about to have our 2 year anniversary. we're both close to being 17, and love each other to death. i swear that boy is my everything. 
anyway, cutting to the chase - we're both virgins and he's wanted to have sex for awhile, but i'm the one that's been iffy about it. but now i think i want to. here's what's holding me back, and if i can get advice on ANYthing that would be so appreciated. 
1.) age - are we too young?
2.) contraception - i'm not on birth control. condoms would be the only option. is that too risky?
3.) parents - this just isn't something i'm comfortable having my parents know about. is that okay? i just really don't want to talk to them about it.
these are really the only things holding me back, otherwise i'd be totally for it. any and all advice is appreciated.