I want something I can give them without them being too nervous.
rrruuunnn,
There are no hardware solutions to software problems, and this sounds like a software problem to me. What you are looking for is called training, as far as I can tell from what you have said here. Depending on family dynamics, either you can provide training for them, or another family member or even someone outside the family might be better suited for the job. It all depends on what works in the given situation and who is comfortable doing the job.
Any reliable firearm that both your parents can physically master will do for the task. The issue is mastery, not hardware, at least as far as I can tell from what you have said here so far.
And you aren't the only one who has to think about such things by any means. As my mom has gotten older she's traded in her .38Spl revolver for a .22LR (the S&W 317 snub I mentioned earlier, with an action job from a good 'smith). She has also traded in her cut-down 20 gauge double for a Beretta CX-4 in 9mm. And my wife, who is very good at firearms training, happily stepped up to the plate to teach her how to run the new stuff.
hth,
lpl