Is it normal to be friends?

It's somewhat normal to be in an awkward situation like this with people who are not quite friends. Perhaps it might feel as if to hang out with them would be better than to be alone but I would highly recommend against it. The fact that you would be embarrassed for your parents to meet these two characters is a huge red flag. If I were you I would find some activities to do on your own where you could meet like minded people and possibly build appropriate friendships.

Please try not to judge yourself harshly.