It is entirely possible for a person who is now adult to bring a legal action against his or her parents for emotional damages that the person suffers and suffered as a result of incidents that happened when the now adult was a child.Whether there is a factual basis for bringing such a lawsuit depends upon what specifically happened, the specific damages that have resulted, and whether or not the possible claim would be barred by your state's statute of limitations. I recommend that you consult with a personal injury attorney in person about the question your are writing about.