In the US it's pretty common to live with your parents throughout college. It's expensive to stay in the dorms.
If you get along well with your parents and they don't mind, I think it's totally fine. Now, mind you, living at home shouldn't be an excuse for not working or supporting yourself. You should be paying rent, or some of the utilities, or at the very least buying some groceries and helping with dinner/chores.
I lived with my mom for all six years of university. We joked sometimes that I was a "failure to launch," but the arrangement actually was great for both of us. I helped with bills and chores around the house and we got to become "adult friends." After I moved out, she used to ask me all the time to move back in to save money. By then, I was ready to be out on my own. Wouldn't change what we had for the world though!