No. Once you file I-130, a period of time will pass and you will be asked to submit an I-864 after the I-130 is approved. So I-864 is a part of the entire process, but no, you do not have to send it in with your I-130. You can do that, if you want, but you will likely be asked to add new and most updated financial information to show that you can still afford to support your parents. And remember, you will need two forms I-130, one per each parent (so the fees double, of course).
Answered on Nov 07th, 2013 at 1:58 PM