Uh, Dragonlance War of Souls trilogy has teenagers for some of the characters. And they have parents, although in one case it's not as simple...
Of course, the books are pretty long although somewhat decent for fantasy of that type.
But it wouldn't really fit your criteria...
OOOOH. Pick Mort (Terry Pratchett). It's fairly short, has 2 teenagers as some of the main characters (or 3, if you're going to nit pick it)... "Parents" have some involvement too. And overall, the book is hilarious - but I don't need to tell you that if you're familiar with Terry Pratchett.
Actually, yeah... I doubt that it'd work, although you're welcome to try - Mort's parents are alive, Ysabel's real parents are dead and she's been raised by, well, fuckin' Death (who is a really nice dude anthropomorphic personification) and the princess herself is somewhat dead, and so are her parents.
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