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As you are holding a residence permit, you can invite your parents. You have to sign a formal declaration of commitment at your local immigration authority, that you will you'll bear all the costs for your parents (housing, nutrition, health insurance, clothing) during their stay and even the expenses for a deportation if this should be inevitable. The immigration office will require an evidence that you are able to finance the scheduled time of their stay, so you should deliver your last three pay slips or, alternatively, a statement from a deposit account.
Your invitation will be probably be approved if your monthly income is above 1598,- € or your savings are above 19.180,- €. It is highly recommenable to take out a travel health insurance policy for both parents.
Further information can be found here: https://www.auswaertiges-amt.de/de/service/visa-und-aufenthalt/schengenvisa
I hope my answers were helpful and I’ll be very pleased if you contact me again with further questions. I'm a member of the mbeon-staff and I‘ll be glad to guide over a longer period of time. mbeon is an online advisory service for migrants via the mbeon-app, which you can download on your smartphone for free. You'll find me in the mbeon-app under my location „München” and then my name “Frau Müller“ and get confidential one-to-one advice in a safe virtual room where nobody can read messages. For further information please visit www.mbeon.de.
Download for Android: https://play.google.com/store/apps/details?id=de.zone35.mbeon
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