How about I just don't do things for my parents anymore?
Why not? Those are your parents.
I just want to satisfy myself and ignore what they say.
Having your parents back is a good idea. They were there for you when you were a kid, it is only fair.
I bet they were horrible people when they were younger.
It doesn't matter how horrible you assume that your parents used to be, you shouldn't attempt to emulate the bad things that they've done. I am sure they've done a lot of good for you, why would you want to be rude to them?