I’m trying to get help ?

I’m a 22y old woman who is also my father’s partner as well as his daughter. There’s a lot of shame and if I’m completely honest a lot of fear. Had a feeling if I talk to a therapist I’ll be considered a freak and I’ll be told that it can’t be helped or that I’m mentally ill with the need for treatment it’s crazy how much shame is attached to that. I just want to live on happily without the fear of being judged or criticized. It’s been three years since we started seeing each other. It’s like a pressure released from my shoulders. I know that I’m happy with my choice, what I’m feeling is real. I decided to share my story because I see that there are people who are in a similar situation on this site. I’m not really sure what to do next, but I think it’s best to let it go whatever the consequences will be.