It compulsory to compensate such behaviour to be sure to avoid the bad results of it in this life and hereafter. Bad deeds must be countered by very good deeds as we read in Quran ( Surely, good deeds remove away the bad deeds)( Sura Hood;114).

1. If your parents are alive, you must serve them with out letting them ask you and fulfill their needs and wishes as much as you can to make them really feel that you are compensating your misbehaviour.

2. If they are not alive, you must do maximum good deeds and gift it to them like getting their religious debts performed e.g. missed prayers, fast, Khums, Hajj or any other debt they had. Above that to give Charity on their behalf or recite Quran or Du'a, Majlis, Ziyarat, Hajj and Umra.

3. Visiting them if they are alive or their graves as it is like visiting them and it makes them happy.

4. Praying for them every day and night especially during and after all your prayers.

Wassalam.