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-What is your age?
-Do you think her mother wouldn't approve of you?
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I think that her parents will not only have a problem with the two of you sneaking around they may also have a problem with the fact that you are 18 years old and their daughter is only 16 years old, you are probably her first real relationship and she may be confused and thinks that she loves you but doesn't know anything so make sure that her feelings are true. What you have to worry about is the parents getting angry that you were sneaking around with their daughter for over a year without telling them. Some people that are in church feel that the man has the responsibility to introduce himself to the family and not feel the need to sneak around. Depending on whether her parents will be okay with you being so much older and not pressing charges, that plays a big part in whether you should tell them you are dating, make sure that you won't end up in jail because of caring for their daughter.
If you do decide to tell her parents then do the noble thing and go with her as a united front but allow her to tell her parent without interruption only talk when you feel it is needed or they ask you a question, try to be respectable as possible to them it may ease the hurt and pain of knowing that you were hiding your relationship or try not telling them how long you had been dating only if asked do you divulge that information. This is going to be a very crucial situation and you have to handle as that and try not to make a mistake of talking for your girlfriend or they will think that you are controlling her.
If you feel they won't have a problem with your ages then I would try this approach go to her parents and asked them what they would think about the two of you dating and if they refuse you will know that now is not the time to tell them you are indeed dating. It's up to your girlfriend to prove to her parents that she is mature enough to date through actions and behavior. You should stand on the sidelines for now and allow your girlfriend to be in control of the situation so that her parents don't think you are controlling her or brainwashing her. You don't want to be seen as a threat to their relationship with their daughter. You may need to give it some more time if you asked them and they do not agree with the relationship.