Yes. As a teenage or new driver – or an adult driver who doesn’t own a vehicle – you can drive a parent’s car as long as your parent’s car is insured, you have their permission to drive it, and you won’t be using it for anything illegal (like stunt driving).
Heads up! You must also have either a G2 or full G licence to drive your parent’s car on your own. If you have a G1 licence, you must always have an eligible fully licensed driver in the car with you.