Parents don’t like my guy

Me and my ex boyfriend are currently talking again, hanging out ( basically dating but it’s not official yet) and I’m very optimistic of the outcome and he’s someone that I truly love. The problem is...a year ago in November, my dad caught us being very very close to intimate in the house and it caused some drama. It was very stupid and wrong on our parts and we both took 100% accountability both apologizing as well, but my parents basically didn’t want me to see him/be with him after that. We cut off contact for a good while after that but got back in touch and have been talking since and hanging out. My parents are aware that we talk and FaceTime but are not aware that we hangout at times and I’m ready to tell them and express to them that he is gonna be in my life at this point. I’m 20 years old and I’m too old to be hiding anything and I don’t think it’s fair for them to be this controlling but I also still live at home so of course I wanna respect them.