My parents meeting my boyfriends parents

So I have been dating my boyfriend over a year now and our parents haven’t met eachother yet.

Not sure when they will meet eachother or when is a good time for that?? I don’t want to do a dinner thing as his parents are super laid back and chill and never sit down together as a family for dinner where mine do all the time. So idk it will be interesting to see when they do meet.

When is a good time and what is a good way to do it??