Mu'awiyah bin Jahimah narrates from his father: I came to the Prophet (peace and blessings be upon him) to seek his advice about taking part in jihad. The Prophet (peace and blessings be upon him) asked: "Do you have parents?" I said: "Yes." The Prophet (peace and blessings be upon him) said: "Stay with them both, for Paradise lies beneath their feet."
Al-Tabarani recorded it, and its narrators are thiqat (trustworthy).