Yes, a U.S. citizen child can petition for you but only once they turn 21 years old.

If you entered the U.S. legally (even if you overstayed), you may be eligible to adjust status (get a green card without leaving the U.S.).

 If you entered the U.S. illegally (without inspection), you typically can’t adjust status inside the U.S., but you might be eligible for a waiver or consular processing.

Some parents may qualify for Special Programs like Cancellation of Removal (if in court), or DACA/TPS if available.