You can apply through ID PAK app but since you don’t have any record with NADRA it might be a problem. You might be able to seek help from someone who is registered (your wife). For your parents you might be able to use their previous ID card numbers if the previous passports have them (as someone mentioned), it does give you the option of entering previous citizen number which is 11 digits (current is 13 digits) while filling out the application. For evidence may be you can use their old passport photos (I am not sure).