I entered the US without inspection years ago and now my child is a US citizen and over 21. Can they help me get legal status

A US citizen child who is over 21 can file a petition for a parent. However, if you entered without inspection, you may not be able to adjust status within the United States and might need to go through consular processing abroad.

Leaving the United States after an unlawful presence can trigger reentry bars, but waivers may be available in some cases. Each situation is different, so it is important to evaluate your full immigration history before starting the process.