Should i do what my parents say or what he says?

I have been with this boy since i was 16. i am now 22. my parents never liked him and never wanted to acknowledge that he was my bf. they always called him my "friend". we weren't allowed to kiss, hold hands or touch up until like ...3 weeks ago. really. we dont do dirty PDA things just a hand hold would get me in trouble. i always do what my parents say because i live under there roof. they pay for school when i need it and pay for my food. i pay for my car, phone , insurance and gas. so what do i do? my bf wants me to go over to his house ad watch a movie. he just wants me there and my mom said no because no one would be home. do i just go? or do i still continue to listen to my parents? they yell and yell but don't they trust me? what do i tell them? i dont want to be a ***** ands tart a fight with them. but i love this boy. i want to marry him. HELP please