I pay $1050.00 a month on my mortgage. I ave a 6.4% interest rate. My mortgage company pays my taxes

I pay $1050.00 a month on my mortgage. I ave a 6.4% interest rate. My mortgage company pays my taxes and my home insurance. Only $206.00 goes toward the priciple. Every couple of years the escrow account has a shortage and my mortgage payments goes up. I am 10 years into a 30 year fixed mortgage but I still owe $101,000 on a $119,000 loan. I do not see how this loan is going to be paid off in the next 20 years at this rate. I need some suggestions.