"after taking legal advise"
What was that advice?
Here is a little anecdote I use in my office:
My client comes to me with a problem and , usually, their prefered solution. Very often their preferred solution has little or no basis in fact, reality or law. But it suits them, it's nice and it does not involve conflict or hard decisions.
My job as a solicitor is to look at the problem ( and very often this involves hard questions to get the full story) and see what, if any, solutions are available. The solutions are generally of the (a) do nothing ( but that's not going to fix anything) or (b) do something ( but it's gonna mean hard decisions). There may be a range of solutions - many of them decidedly unpalatable but, in the end, the problem will be fixed.
"My parents, do not wish to sue for negligence"
And does this not quite simply lead to the very obvious solution? Parents settle with Revenue - end of story.
mf