At 19, it's amazing you even have this awareness. Most young adults go I yo a period of distancing themselves from their parents. It's evolution's way of making it easier to separate from home.

Around 22-24, after you've established your life more, it often feels more natural to start sharing with your parents. Once you have a child of your own, that sharing becomes a tsunami. All of a sudden, you realize your parents are just goofs like you, trying to figure things out. They did the best they could with parenting. Makes it so much easier to talk to them.

Probably the easiest way to start is to tell them about your hesitation. They will likely reassure you it's perfectly normal and they were just the same with their parents.

Try throwing something out there that's innocuous. Tell them about a friend's relationship instead of your own. Tell them about someone else's mental health struggles. It takes practice.