Your Lord knows best what is in your hearts, [in the way] of what may be concealed of dutifulness or disobedience [to parents]. If you are righteous, obedient to God, then truly, to those who are penitent, those who return to obedience of Him, He is Forgiving, of any slip that might have issued on their part regarding their duty to the parents, so long as they do not conceal [within themselves] any disrespect [towards them].