How can I get money from my parents without paying a lot of taxes ?

Seek Legal Advice about how to plan the transaction. Gift amounts that large are taxed. Gift restrictions amounts apply to the giver.

Time for a consultation with an experienced tax practitioner who can advise based on actual facts. Be prepared to learn that the general rule is that a gift over about $13,000 requires a gift tax return, but does not generate an immediate tax liability due to the lifetime transfer tax exemption amount, and the $13,000 benchmark applies to the gift from one person to one other person, so if a married couple give to another married couple, multiply 4.

You should speak with an attorney who has experience with real estate and tax law.