If you don’t see anything in your car, check your email. Most insurance companies now send documents electronically, so they may have communicated with you that way. Terms you can search are:
Should nothing come up from that, see if your state’s DMV allows you to search insurance information. Because insurance companies report insurance information to the state, you can often access insurance information through the DMV.
If all else fails, ask your parents! I’m sure you want to be independent and find out the information yourself, but asking may save you a headache and time. Once you find out the cost of your insurance, shop around. Even if you can afford your current insurance company, looking at your options never hurts.