Yup. All of us know that Peter being raised by Aunt May and Uncle Ben is a major part of his origin story. But in Amazing Spider-Man #386-388 his parents came back.... sort of. And Peter does what any reasonable son/superhero would do: He reveals his identity to them. And it's adorable and heart-warming... for about three panels.
They were actually designed by a villain to try to find Spider-Man's identity. Of course Spidey thwarts that plan. Mom-bot destroys dad-bot and everything is sort of okay. Though it does seem kind of... upsetting? I'd be mad if I were Peter!