It never hurts to plan ahead! Better to have condoms and not use them than to want them and not have them.
And lube is used in vanilla sex (just not quite as liberally), and I doubt that if your parents find it in your suitcase they would say anything.
My father once found a dildo in my suitcase (they were both black and he thought it was his suitcase and I wasn't quick enough to stop him). His face turned rather red and he shut it and left the room and never said a word about it. I still giggle at the memory.
So they do have a secret society...