Can I lie to my parents about how I found a kitten in a bin?
Did you want a kitten and thought that excuse was the best way to have your parents let you keep the kitten?
I don't know, things happened so fast so I only remember the concern of my parents
It's wrong to lie to obtain something especially if your parents didn't want you to have it in the first place. You do not want to turn lying into a common behavior, it will lead you to trouble if you keep lying.
I'm not in trouble, they never found out.
It is still rude to lie to your parents whether or not they would find out the truth. You want them to respect you and be able to give you freedoms that you deserve.