Becoming sexually involved

Me and my boyfriend are both 17 years old.

We’ve been dating for 8 months and have started becoming more intimate (fingering hand jobs etc) and are both heading towards having sex within the next few months

Personally I am comfortable with everything and I really do trust him and know him well enough to know if anything goes wrong in our first time or even if we weren’t intimate we’d still be together

I enjoy what we do a lot but my only concerns that have been worrying me are: I wonder if we are doing the right thing, I am incapable of speaking to my parents about it because I know they wouldn’t allow it, but I don’t understand if we are doing things safely and with someone we love why it would be a problem

I can’t help stress about this can you guys please help and give opinions