Can parents? Absolutely. Should parents? Perhaps.
@@ItsBrian, you state you would prefer your mom to counsel you in the Cycling Merit Badge to make your life easier and to avoid a stranger for requirement 7c. In my neck of the woods, we encourage (enforce is a little too strong of a word) Merit Badge Counselors to counsel Scouts inside and outside the Troop they are registered with. To @@John-in-KC's point of adult association, were your Mom to counsel you, you would loose out on that method. Your posts indicate someone who can articulate his thoughts well and communicate with adults with apparent ease, so a little less adult association via a Cycling Merit Badge isn't the end of the world. Just step out of that comfort zone from time to time. An encourage your Mom to counsel all Scouts interested in Cycling.
Now I'm wondering what percentage of Merit Badges have this requirement.