Your only mistake is lack of experience. And that is not really a mistake either. Thing is that blood is not always thicker than water. Family only matters when they treat you with respect. And this is why, even though it may be hard, sometimes you have to cut ties with family as well.

Your parents sound like horrible people. Lying, stealing, taking advantage of those more naive. I would not maintain a relationship with them. People can change, but not by that much.