If you are not yet 21 and have enlisted in the U.S. armed forces, then the good news is that your undocumented parents are eligible to apply for Parole in Place immediately, even before you turn 21. They apply for PIP by filing Form I-131 with the Los Angeles Field Office (or whichever USCIS office has jurisdiction). Once Parole in Place is approved, your parents will receive the I-94 cards. You can file an immigrant visa petition for them but you will not be able to do so until you turn 21. Learn more.