My I-94 is expiring in less than 2 months... Can I stay in the US legally while waiting for my 1-130 to be approved

No, you cannot "legally"'stay. The fact that you have an I-130 pending does not confer the algal right to remain in the US while it is pending. You need to timely depart prior to your I-94's expiration date or seek to timely extend your B-2 status, an application which will in all likelihood denied due to the fact that you have pending immigrant petition filed by your mother.

You may stay legally only if the USCIS allows you to. As the adult son of a U.S. resident, it is unlikely that you can remain until a visa becomes available to you. However, the best thing you can do is have a consultation with an immigration lawyer who can give you an opinion after asking additional questions, beginning with the country of your birth and that of your mother.

You can only stay in the U.S. while your I-94 is valid. It may take you many years to immigrate to the U.S. as the unmarried son of a permanent resident. Please see