Retail Fraud / Shoplifting: 20years Old; Retail Fraud, First Offense. Need Help

My question involves criminal law for the state of: Virginia

so I went to walmart last night and decided to take a couple video games. This was completely an impulse kind of thing. I have never done this kind of thing before. Well I was walking out of the store and was actually in the parking lot when someone stopped me. It was an LPO who had seen me go into the garden center at walmart with the game and leave without it. I handed the discs to him and he made me come back inside. I thought for sure I was screwed. He led me to the back of the store and had me go in a holding room. There he took my info, my picture, and asked me questions. He told me the value of the games was cause to call the police. I'm 20 years old so I started freaking out thinking I was going to get arrested. The cop came to the store and asked me questions and told me I was being charged with petit larceny and that I had to appear in court oct.9. The LPO sad I was not banned from the store but why would I want to go back. But what do I do. I was charged with this when I was 16 for not paying for a lift ticket when I went snowboarding. Those charges were dropped because no one came to court from the resort. I also had a speeding ticket a year later but that was dropped from my record when I turned 18. I don't have much money so I don't think I can afford a lawyer or anything but I don't want my parents or anyone else to find out about this. Should I try to get a free consultation from an attourney or just plead guilty and explain that this was a first time thing or what. I know if I sit there and explain myself I will probably still get a fine. I just don't want o go to jail. Please if you can help I would greatly appreciate it.