Talk to Endocrinologist on Short Height

Hi, My age is 20 and my height is 5'7 which short because father was 6'3 and mother height is also good but mine is short in the age 15 to 18 I didn't grow any inches and after it I have grown some because of exercises but not much even my puberty comes very late and now I have a pain of stretching in my body but I didn't do any exercises now so I think that I have potential to grow more height so please acknowledge me how would I gain more height or is there any medicine for it please I want to grow height.