Go and see my folks regularly but do not go in their house as it is against the rules. I get shopping for them and use disinfectant wipes on it then leave it in their garden.
I hate the rules but abide by them because they are obviously there for a reason. Anyone not is a selfish person that will make things worse for the rest of us.

If you parents are vulnerable and you are providing care you are allowed in their house mr deemo. Just make sure you are distancing and have your mask on etc.