Planned parenthood but keeping baby

Can you still go to planned parenthood if you're keeping your baby? Will they give you advice and information on raising a baby/being young parents?

My boyfriends parents want us to go and only will be involved if we do. So we're going, but we will tell them we are 100% keeping the baby. I just want to make sure they won't look at us like we're crazy for coming, and maybe have some advice or assistance or something .