In the U.S. you can be a counselor or a social worker with a master's degree (2-3 years after the bachelor's degree, including internship, which is required. If you want to be a psychologist that requires a phd, and is a minimum of 4 years of graduate school plus an internship. You don't have to get a master's degree before starting the phd programs though, at least for most of them.

What is most important right now is to plan for your bachelor's degree and do the best that you can. It's fine to start at a smaller school, but you may have more options than you think, because there is financial aid available. I got through college at a state university with no help from my parents, so I know it can be done. Get the best grades you can. Clinical psych programs are very competitive to get into. You will find out about other things, like getting experience, doing research, doing volunteer work, that will also help your chances. Talk to other students and professors, and your T, and you will get good advice.

For now, ask your school counselor to help you plan it out and find out about your options, including financial aid. If this is what you really want to do, there are ways to do it.