I am mature person and I can't control my desires like masturbation and all that. My parents will not let me get married. There is a girl my parents want me to marry. I love her but my parents first told me after one year and now they are talking about 5 to 6 year before marriage. Is there anyway that I can be saved from bad things and get married?

All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah, and that Muhammad is His slave and Messenger.

For masturbation and its ruling please refer to Fatwa 81150 where you will find advice for the person who cannot get married.
As for your situation with your father, try to explain your case to him. Try to convince him to hasten your marrying; mention to him that you fear committing Zina. If you are shy, try to get someone else to talk to him.

We warn you against establishing any relation with this girl prior to marriage, as this is the first step Satan uses to lead one to committing bad deeds.

We ask Allah to ease our matters and yours and to help us all.

For more benefit on the prohibition of masturbation, please refer to Fataawa 179859, 376036, 87952, 81167, and 88957.

Allah knows best.