Ok... I get that most people don't care if you stutter but how do you talk to those who do?

Ok... I get that most people don't care if you stutter but how do you talk to those who do? My father is SUPER judgemental of my stutter and you can see how impatient he gets when I talk to him and stutter, and then he gets extremely angry and yells It is impossible for me to speak fluently or with low stuttering near him. When I speak to my mother or other people who don't care I stutter much less. So how do I stutter less to people who do care if i stutter? I feel like it is impossible.