Self-censorship is not always a bad thing. I think we all have things that we would like to write about, but don't think it would be worth the fall out. The question of what's worth it is entirely up to you. That said, never censor yourself while you are still writing the story. Save the censoring for the final draft.
Self-censorshipisn't an exact science. While you're making sure not to write anything that will offend your parents, you may also be holding back some important emotional truth that will make your story rich and insightful. Don't block the creative flow. Write it all. Every detail that occurs to you. Until it's published, it's private, so be honest, frank, and free.
Side Note: Sometimes I meet young writers who are living in a special sort of artist-hell. On the one hand, they are anxious and are convinced that they will NEVER publish. But these same writers totally freak out and become blocked because they self-censor for fear of what people are going to say about their work. This is the worst of both worlds. Learn to let your insecurity work for you: If you really feel you will never publish, let that free you up. Cut loose! Who's going to see it anyway.
But seriously, "What should I write about" and "What should I publish" are two really different questions. You should write whatever comes to your mind. Writing is personal, it is art. It's between you and the page.
When it comes to publishing, I recommend letting the story sit a while and then read it over carefully. If there is someone who knows your situation-- be it family or whatever-- ask that person to read it too. Consider your loved ones' feelings. Don't let them steal the show, but consider. (Also consider if they are ever even going to read your book in the first place.) If there is something that may be ouchy, but isn't that crucial to the story, take it out or tone it down. On the flip side there may be something that's freaking you out, but your reader may convince you that it's not nearly as out there as you thought.
There are folks out there who disagree, who believe art is the only obligation of the writer. And I must admit that I have been very enriched by the work of the take-no-prisoners writers. I'm just not one of them.