What Doctor Should I See for Incontinence?

Male mid-20s.

For about 3 years I've "dribbled" urine after 'voiding'. Something around maybe a teaspoon of urine over the course of maybe 5-15 minutes. Standing or sitting immediately after urinating sometimes causes a little more to come out. I have no other issues controlling my bladder outside of the dribbling immediately after urinating.

I've tried "milking" the shaft but that doesn't work, it's a problem further up the plumbing I guess.

So, yeah, it's annoying, but not the worst thing in the world so I've just sucked it up and delt with it. That was, until yesterday when I found out that this could be a symptom of prostate cancer.

Now I'm appropriately concerned since I'm not in a hurry to die and want to see a doctor to check it out. My question is, who should I go to? A primary care physician? A urologist? Another specialist? My insurance allows me to see specailists without referral.

What kind of doctor should I make an appointment with?