I need help with my parents!(help please)?

i do not understand my parents. they scream at me for everything. drinking cold water, putting ice in my water ect.... they also give me no privacy. I cannot shut a door in my house. when I shower they com in randomly and annoy me or do something, and when I got to the bathroom, they "happen" to have to do something outside of the bathroom, I have called them out on these things before and they gave yelled when i did. Today I had a *****, and my mom asked what was in my pants pocket, (when I think she already knew) and poked my penis. is any of this bad?