How do I get rid of this

Im 18 and I’ve been suffering from bad anxiety for the past few years. Im at a point in my life where I think if I don’t get help it’s going to hold me back a lot in the future. Would the best way to get help is just by making an appointment with my doctor or should I try to figure it out myself? I don’t really want to talk to my parents about it but they have my insurance.