Hey there. You can purchase a couple of home pregnancy tests, but generally, you have to wait until your period is already late, though there are a few tests that allow you to test a few days earlier than that. They are generally pretty accurate, but you ought to take more than one.
Really, though, the only way to be certain is to take a blood test, at the doctor's office. Is there a particular reason why you can't go? If you're worried about your parents finding out, know that they are not allowed to access your medical records. Maybe you could have someone else take you? I'd suggest scheduling an appointment with a gynecologist. Awkward as that may seem, she could give you some advice about contraception and becoming sexually active, and could give you a prescription for the pill (your parents don't have to know).