Hazrat Shaikh Moulana Muhammad Zakariyya (rahmatullahi ‘alaihi) once mentioned:

The hadeeth has shown a way to those who did not fulfil the rights of their parents during their parent’s lifetime, as to how they may make amends after their demise. The hadeeth states that such a person should seek forgiveness on behalf of his deceased parents, send esaale thawaab for them and keep in contact and show kindness and respect to all those who were close to his parents (i.e. family, friends and associates). Through carrying out these actions, one will be forgiven by Allah Ta’ala and be blessed with the good fortune of being counted from amongst those children who were obedient to their parents. (Malfoozaate Hazrat Shaikh 1/39)

Source: Ihyaauddeen.co.za