I'm in the same boat! You're not alone. My parents are great and still together and took great care of me but have never really been into each other the way that I guess married people are "supposed to." It's made relationships very vexing.
This describes me as well. I'm 34 and haven't been in a serious relationship yet. (There are a few other reasons for that fact, but I do think the parent thing has something to do with it.)