Go for scaling and polishing of all teeth. Learn proper brushing technique from your dentist. This will definitely improve the appearance of your teeth. Rest don't bother about yellowish teeth. Its normal. Milk teeth are always brighter than permanent teeth. So you are missing those white teeth. And for bleaching you are too young. So don't think about any treatment unless until there is caries, sensitivity or pain. Just keep your oral hygiene well. That's it.
Your friend is right. You have to go for scaling n polishing. For more whiter teeth, you can go for bleaching.
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