Losing virginity??

I’m 17 and have been with my boyfriend for 6 months but he’s been my best guy friend for years. I know that he is ready to have sex but he always made sure I knew that he wouldn’t pressure me or make me do anything I wasn’t comfortable with. I think I’m finally ready but I just don’t know exactly when/where we could and I also just don’t really know how to let him know I’m ready. I also don’t want to have to talk to my parents about it because they’re really strict but I would have to in order for me to get certain types of birth control etc. thoughts?