I would say not yet. Only when they have a PR card or at leat have signed CORP with CBSA officer. Anyway I would refer you to email IRCC for instruction.@mohitmalhotr44
First of all congrats on getting successful completion of PR.
well i know your family must be super excited, but considering the global pandemic, i suggest not to travel.
My parents are home and I recommended them to stay home as well.
there is no place safer then home, traveling is risky.
As far as legality is concerned, i am not sure if they are considered as PR holder yet or not