How do I tell my family??

I’m currently 27 years old. I have a 5 year old daughter and have not been with her father since she was 6 months old. My current boyfriend and I have been together for almost 4 years. We own a home together and have my daughter full time and will be getting engaged sometime this year. I am currently 7w4d pregnant with our first child together. We are stable and happy and still i’m terrified to tell my parents. I was 22 when I had my daughter and my parents didn’t have the best reaction when I told them because I wasn’t married. I’m still not married but I am in a completely different situation than I was with my daughter’s father and yet I am still avoiding telling them. I feel like a child and don’t even feel excited to tell them because I’m almost certain they will react negatively again. What do I do? Tell them now? Keep waiting?