Cops if you read a minor their rights without their parents present and they incriminate themselves?

If a minor does not have his parents present and has not invoked their right to have a lawyer present , is read his Miranda rights, they incriminate themselves in a crime after being read their rights. Can you use their confession as evidence in court? Assume the parents are trying to suppress the admission because they or a lawyer were not present, they make the argument their minor is not old enough to enter a contract in understanding Miranda Warnings (aka when they read the minor his/her rights), in your state would the admission stick in similar scenario?