I went through my parents' wallets while they slept
Did you take any money from your parents' wallets?
Yes. I took what I needed for a 12-pack of beer for me and my friends.
You had no permission to rummage through your parents' wallets and take their money, so it wasn't right to take their money for beer. Put the money back and get a job if you need beer money.
I'm sick of mom and dad always giving me a hard time. I'm sure they won't miss a few bucks.
Even if they don't notice any missing money, what you did was still wrong. You shouldn't take things that aren't yours, especially if it's to pay for things that are illegal. If you or your friends aren't over 21, what you did was against the law.