How did you come out if you did?

I have no idea how to come out at all... Should I just casually mention it or get my parents together and do a real talk... Either way I'm scared. And with my grandparents in the house it makes everything a whole lot worse. My brother also has said a few things against trans... And at this point I don't even know if I want to come out in the first place. I'm thinking about just staying in the closet and when I move out I'll be myself around new people and stay the same with people I already know