Yes, as a U.S. citizen aged 21 or older, you may petition for your undocumented parents by filing Form I-130

Yes, you can file an I-130 petition for your undocumented parents if you’re a U.S. citizen over 21

The key issue is how they entered the U.S. If they came legally and just overstayed, things are usually more manageable. But if they entered without inspection, the process gets more complicated and might involve them having to leave the U.S. and apply for a waiver. Talking to an immigration lawyer is the best next step