It is impossible to tell whether you or your parents have any immigration options from what you have posted. Depending on how old you were when you lived here, and how long you were out of status, you may have a three or ten year bar on returning. Depending on whether you or your parents left under an order of deportation or a voluntary departure, there may be other bars and restrictions on your returning. You make no mention of any relatives or professional employment options in the United States which may give you an opportunity for a visa. As far as you brother who is a U.S. citizen, his options will depend on his age. Make an appointment to speak with an attorney in private. Many will do consultation by phone or by Skype.
This answer is intended as public information about a legal topic. Answers posted here do not create an attorney-client relationship. For specific legal advice, please make an appointment to speak with an attorney in private.
Minors do not accumulate unlawful presence until age 18, you all need to consult an attorney first then apply for the right visa at the consulate, and if you are issued a visa, then enter legally, and accomplish your purpose.
Immigration US visas Student visas F-1 visa for students International student employment B-2 tourist visa Immigration holds and deportation Voluntary departure for deportation Immigrant status Immigrants and education Employment Education law Foreign and immigrant workers Overstayed visa