Alright so I also Googled it but skipped over all of the yahoo and wiki results and this is what I found.
http://www.dshs.state.tx.us/default.shtm
That is the link to Texas Department of Health. After clicking on a bunch of tabs and links and blah blah blah this is where I ended up.
http://info.sos.state.tx.us/pls/pub/readtac$ext.TacPage?sl=R&app=9&p_dir=&p_rloc=&p_tloc=&p_ploc=&pg=1&p_tac=&ti=25&pt=1&ch=229&rl=406
The first part talks about tattooing but the second confirms what I thought as far as piercings here is what they say-
"An artist may not perform body piercing on a person younger than 18 years of age without the consent of a parent or guardian of the individual."
Meaning you can get your piercing just with the consent of your parent.
It goes on to say that if your parent does give his consent then this is the information the artist will need ect.
So sounds like its perfectly legal! Be sure to post a picture for me!