Do you have a good church now or a good place to learn about Jesus? Jesus is kind and loving and he loves you. You need to learn that, like internalize it, not just know it with your brain. You could also read a book about grace. One book I love is Believing Christ by Stephen Robinson.
As far as dealing with your parents, it doesn't sound like they want to change. Have you read the book Boundaries? It might help you with this situation. I think they do need to know clearly where you stand IF you want to continue a relationship with them.
As a suggestion, you might want to ask one of the admins to move this thread to a non-public forum. A public forum can be seen by anyone, not just members of gcm, and it can come up in google searches. Just if you're worried about anyone reading this.