My parents sign a voluntary departure when I was 16, now Im 24 and married to citizen how can I fix my status?

My parents, sister and I came to the United States back in 1994 with a tourist visa from Peru. My parents tried to legalize their status with different lawyers but all of them lied and didn't do anything. In 2003, my parent's lawyer at that time told my dad to sign the voluntary departure which he did, but we never left. Now Im 24yrs. old and currently married to a U.S. citizen, no criminal background and a college student. I was able to obtain a work permit that expire a month ago and I have an appointment next week to renew my work permit. My question is Would I be able to legalize my status even though my father sign a voluntary departure when I was young?