Don't think you can include parents in the visa application. They need to apply for separate visas AFTER you've lived in Australia for at least 2 years as PR.
https://www.border.gov.au/Trav/Brin/Pare
Note that the cheapest types (subclass 103 and 804) require a processing time of up to 30 years!! The other ones cost a lot more money and some only offer 2-5 years of residency.