All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah, and that Muhammad (ﷺ) is His Slave and Messenger.
May Allah reward you for your eagerness to ensure that what you undertake is in accordance with the Islamic law.
As for the matter you asked about, you should strive to sincerely advise your parents to abandon the idea of traveling to those countries, since there are many Muslim lands that can serve as suitable and sufficient alternatives.
However, if they insist on traveling, then there is no harm in you accompanying them on that journey, provided that you feel safe from temptation while remaining with your parents throughout the duration of the trip. You should also limit yourself to visiting permissible places, while maintaining the following; Lowering your gaze, observing the obligatory acts of worship, and occupying your free time with beneficial activities, such as reciting the Noble Qur’an and reading other beneficial books.
This is especially applicable if your parents fear leaving you alone in your country, or if they need you to accompany them during the journey.
Allah Knows best.