How to potty train boys?

My son will be 3 in May and we are struggling with potty training. I have tried everything under the moon. He will go every now and then but when I try to get him in underwear he refuses and wants to wear his pull up,I’ve done Cheerios, offered rewards, leaving him with no underwear or pants to see if he’d go,books, videos literally everything. When I ask if he needs to go potty he laughs at me and says “no I pee in my pull up” or when he poops he’ll come tell me laughing. He does really good when he stays the day or night with grandpa but refuses to go for me. any advice would be appreciated.