You do not need to cancel your father's I-130. But you should communicate with US immigration officials at the National Visa Center (NVC) to be sure that your father's case at the NVC is still open. You should file an I-130 for your mother. After your mother's I-130 is approved, you will then be able to do NVC paperwork for both your mother and father to apply for permanent resident status.
I strongly suggest that you consult with an immigration attorney, to have the best chance of success.
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File for your mother.
Business Immigration Attorney. For H, L, J, EB5s, PERM and EB1/2/3 Petitions. Call 800-688-7892 or visit www.ImmigrationDesk.com. Law Office of Anu Gupta. The advice suggested here is for general information only and not to be construed as legal advice.