How do I end Stuttering?

How do I end Stuttering? I’m 22 years old and I can’t handle my Stuttering. It came to me due to intertwined genetics which I came to realize after my little cousins had Stuttering as well. I can’t participate vocally in my class, I can’t talk probably with distant family members without them thinking I’m a disabled idiot with a broken tongue. I’m getting tired of cringing at myself everyday, does anyone know a viable method to end it or at least to ease it up a bit?