"But your Mum and Dad…” said Harry, pushing against the barrier again in the vain hope that it would give way. “How will they get home?”
“They don’t need the car!” said Ron impatiently. “They know how to Apparate! You know, just vanish and reappear at home! They only bother with Floo powder and the car because we’re all underage and we’re not allowed to Apparate yet.…”
Chamber of Secrets
This is when Harry and Ron begin to make the decision that they should steal the car to get to Hogwarts. Ron clearly implies that both his parents know how to Apparate.