This encounter is a visionary experience, where Harry sees his parents, along with Sirius Black and Remus Lupin, as he waits to join them in the afterlife. They offer him comfort and support, and reassure him that he is not alone.
This experience is significant because it allows Harry to finally reconcile with the loss of his parents and understand his place in the larger story of the wizarding world. It also reinforces the theme of love and family that runs throughout the series.
So, while Harry does not physically meet his parents in Deathly Hallows, he does have a meaningful encounter with them in a spiritual sense.