If you are a USC and you are petitioning for your parents it is called an immediate relative petition. If they are in the U.S. you can file the case for them here. If they are abroad you can file here and have the visa sent to them for Consular Processing.
It takes about a year. And the process is quite complicated. You should consult with an experience immigration attorney before filing any paperwork. The ideal situation is to get your parents here as visitors and then apply for their green cards.
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