Your parent being there is consent enough. Make sure they bring a long their picture ID. Piercing walkin hours are 12 to 5:30pm daily.
According to CA law, you're fine so long as "the body piercing is performed in the presence of, or as directed by a notarized writing by, the person’s parent or guardian." I would assume that ID is simply to prove that they're in fact your parent, instead of some random person you paid $20 to help you get a piercing.
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