That is long time ago. Now I'm in USA and would like to invite them over. Their passports have expired long time ago. So they apply for new passport, (the old passport number is on new passport).
Should I not mention their visit history in Canada, or offer to tell visa officer the whole story. Can they understand ?
-Normally, this is irrelevant to your parents' U.S. visa application. If the visa officer asks whether your parents have been out of China, just tell the truth. Not need to provide the evidence.