Would my parents have to have AP in order for me to sponsor them?

Depends on how they entered the country, it might possible that they do not need to do AP. For example if they came under a VWP and then overstayed. I recommend talking to an attorney to see if they can adjust without having to leave the country.  This answer is intended for informational and educational purposes only and should not be considered legal advice nor forming the attorney client relationship. For initial consultation, call at 480-467-3188 or email at admin@cronuslaw.com.