I want to try acid, but I'm really nervous.

Well, where do I start? Ok... so a friend of mine has really been loving to trip balls on Acid, he's done it like 8/9 times now and loves it & has been asking me to do it with him. Now, I have been putting it off for a few reasons. Here's why:

1. I'm 17 living at home & 12 Hours trip means I would face my parents whilst tripping
2. I have never tried any hallucinogens before and don't know how I would react to it
3. The trip might be too intense and I might have a bad trip
4. Whenever I smoke weed with other's I usually get anxiety bad, I think the same will happen for Acid

So I am basically asking for advice. I do want to try it, I'm just very very nervous! Any help would be appreciated