It is good that you have the blessed intention to make your parents perform hajj. But, if you do not have sufficient amount for the same, it is not necessary to borrow money to make them perform hajj. Yes, if you get interest free debt easily and you can manage to pay it after hajj, then you can make them perform hajj and the hajj will be valid.
Allah (Subhana Wa Ta’ala) knows Best
Darul Uloom Deoband