"My parents always help us."
Translation:Mis padres siempre nos ayudan.
That would be incorrect. There are three situations (that I can think of) when you can attach the pronoun to the end of the verb.
infinitives: Puedo hacerlo (I can do it)
Positive Commands only (not negative ones): Olvídalo (Forget it)
Gerands: Estoy estudiandolo ahora (I am studying it now)