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If you are US person - you are required to report all your worldwide income - regardless if it was reported to the IRS or not.Income is realized when securities are sold.So if you sold shares - income is realized and should be reported.Sale transactions are reported on form 8949 and gain is calculated there.
Then results are combined and transferred to schedule D and eventually to form 1040 line 13.
Regarding your joint account with your parents - we need to verify who owns shares - if these are owned by your parents - you do not need to report - but if owned by you - reporting is required.
In additional - you might be subject to FBAR and/or FATCA reporting requirements - there is no tax liability related to that reporting.
See some additional information here
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