Spanish is a beautiful language. Growing up hearing it, I bet you know more than you think you do! I started studying Spanish in seventh grade and really, I don't think any of it sunk in until I got to college and had to use it on a regular basis. Are you going to use a software program or take classes, do you think? 

im taking a spanish class right now and i  have a pretty good grade in it. it's just frustrating cause i can understand most of the language but i just can't really speak it

There's a really short time frame between when you can think in Spanish and went it all comes pouring out of your mouth. So don't give up! You're nearly there. If you can read it, do as much reading as you can. I read Cervantes' Don Quixote, because I knew the story in English so I was able to follow along and figure it out that way.

Then find someone in your family you can only speak Spanish with and practice. I had a teacher from Costa Rica and she truly barely spoke English so we didn't have a choice but to speak Spanish to communicate with her. Practicing out loud is the best thing you can do, even if you mess it up sometimes!