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Under my restricted license conditions can I pick up my parents who have been drinking and are probably over the legal driving limit themselves?

Under these circumstances you would be in breach of your Restricted licence conditions.
If you are accompanied by a qualified supervisor "who is in charge of the vehicle" and the fully licensed passenger is intoxicated then they cannot be in charge of the vehicle.

Your parents should get a Uber, Ola or Taxi if they want a night out.