If you are insured through your parent's policy, you can contact a doctor or counselor yourself and your patient information in confidential. You don't need their permission to go to a doctor. It might seem scary to go to a counselor the first time, but they are actually kind, caring people. And if you don't like the first counselor, you can go to a second or third until you find one you are comfortable with.

I think if you can manage to get yourself into the counselor's office and say it is difficult for you to talk to him or her, the counselor will take it from there. Courage!