Stuttering only when talking to people

Stuttering only when talking to people Hello ! I'm a 30 year old male , stuttering since a kid , don't remember exactly when it started. I've never been to a specialist because I was hoping that as I grew older the stuttering would go away by itself ,but it didn't. I've noticed that I only stutter when I talk to people , regardless of who the person is , and when I'm alone at home reading a book I speak without almost non difficulties, so that makes me think it's more of a psychological problem rather than biological. I know that it might be too late but I was hoping on receiving some advice , if you know some person with a similar problem. Sorry for my bad English. Have a good day.