How to tell family i’m engaged???

Hi everyone! So my boyfriend proposed to me last September and I still haven’t told my family😬 When we got engaged I was 19 and now I’m 20. My boyfriend is going to be 21 this month. We are fairly young which is why i’m extremely nervous/scared to tell my family because I know they are going to judge because of our ages. We have been together for almost 4 years and I can pretty much say neither of us are going anywhere. Did anyone struggle with telling their parents that they are engaged at a young age? If so, how did you go about it? At this point, i’m practically desperate🤦🏽‍♀️