Is there any way to Stop Stuttering

Is there any way to Stop Stuttering I(M19) Stutter a lot while speaking. thing is sometimes I speak without stuttering but sometimes it's worse. when I talk alone, I don't stutter when I talk alone but when I talk to my friends or my family, I stutter. there's like some sort of anxiety comes into my mind and the words don't come out of my mouth. it just stops no matter what, I couldn't speak those words. tbh it really sucks. It's really embarrassing when I stutter, I can't share my opinions since I know I'll stutter. has anybody here managed to get rid of it completely then please share your secrets.