If you are an owner of the property (your name is on the deed), and you never lived in the home as your primary residence, then you are subject to the capital gains tax based on your percentage of ownership. In other words (for example), if you are a 50% co-owner with your parents, your share of any gain when the property is sold would be 50%, and you would be subject to the capital gains tax on that portion. How the sale proceeds are used makes no difference.
**Answers are correct to the best of my ability but do not constitute tax or legal advice.