I'm thinking of stealing from my parents then pay them back later.
If you committed a crime, would you report yourself?
No I've never done something like that. So I wouldn't report myself, because I'd like to have a clean record.
Then you should keep your record clean and just borrow something like a normal person. You are just borrowing in a criminal way, and that is very thoughtless and can land you in jail.
It's not a crime, it's just a little bit of money, and my parents make a lot anyway. They should be able to spare a little.
You should ask them for money if you plan on paying them back. It's not borrowing if they don't know about it.