YOU might not be too worried…but have your parents actually said that they can & will pay $250-300k? If your parents can do that without you taking on more than very minimal debt, great.
Otherwise you have a disconnect between your plan and practicality. Once you have your undergraduate degree you need to add another $30K + living expenses for the Masters. Once you have your Masters you get your first job as a counselor - most likely in the $30-50K salary range. If you have ANY debt those first years are going to be very very painful.