If she likes to fetch a ball or some other toy, then giving her some exercise followed by some basic commands (come, sit) with small rewards for doing what you want will go pretty far.
Exercise, discipline (always positive reinforcement, never ever hit her), followed by affection. She’ll see that she can trust you and will relax.
As some others have said, go slow and don’t force any interaction. Maybe involve your parents in the exercise and discipline parts.
If she’s a rescue, then sometimes they just need time and consistency to come around. You never know what a rescued dog has been through before becoming your pet. Something you were doing or wearing could have set your parents’ dog off that was in no way intentional. Not all humans are kind to their animals - some are downright evil. I had an ex-girlfriend who had a sweet black lab who was terrified of men, those wearing hats and boots in particular. With some time and lots of love, he came around.