To claim yourself you will need to print and mail a 2019 tax return. You cannot e-file if your parents used your social security number to claim you as a dependent, because the IRS will reject any e-filed tax return if a SSN has been claimed as a dependent on another tax return.
You may not receive your stimulus payment until you file your 2020 tax return in 2021. But, filing a correct 2019 tax return is the first step in establishing your eligibility for a stimulus payment for you and your dependent children.
Before you file to claim yourself as dependent, you should check the rules under which your parents could claim you as a dependent. For example, you don't need to live with them at all if you made less than $4,200 and they provided more than half your support.
Table 5 from IRS Publication 501 is a good overview of what it takes to claim a dependent.
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