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I will try and help. Can you tell me what you mean by reimburse yourself? Do you mean take their money?
I would say ask them. If they say yes and give you the money, fine. If not, then to arbitrarily "reimburse" yourself would be to steal. Keep in mind that you are under no legal obligation to help your parents, especially if it costs you money. Doing so is a choice on your part. You can't turn around and help yourself to their money without their consent. That would be theft and financial elder abuse. If you wish such an arrangement, set up a formal power of attorney and spell out in writing what you are entitled to.
I hope this helps.