Sounds like a transition issue. What has worked for me is to give a 5 minute warning before mom/dad arrive, say "Johnny, you have 5 minutes until mom gets here so finish your activity" set a clear expectation that when the parent arrives he will be given a specific task (sit at the table and play with....or look at a book) until his parent is ready to walk out. The 5 minute warning helps them prepare for the transition and the task will keep him from bouncing off the walls. Maybe a specific toy or activity for pick up only that he really likes. Good luck, I have had more than one child with these issues.

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