Has this guy not had many GF's? I'm guessing he isn't the kind of guy who just goes out and asks girls out is he? The problem with men like this (I did used to be quite like that) is that he probably suffers from low self esteem (which he'll NEVER admit) although it will be subtly displayed in his character and behavior, i.e., wont ask girls out because he doesn't think he deserves to be with them etc.
The problem you have is men like this wont take initiative with women, so if anything they end up with the type of women who take initiative with them. I always encourage girls to take initiative with men because dismissing men who aren't proactive with women shuts them off to TONS of decent guys. Just because a man lacks an abundance of confidence doesn't automatically make him a loser, the problem is women feel desperate and uncomfortable doing it, if they do it all, and realize how tricky it can be for us guys! And no-one teaches us, we have to work it out for ourselves!
If his parents approval is important then perhaps make an effort to talk to them? Use them looking at you like a visiting escort an excuse to not sleep with him if you feel that way, tell him he'll have to stay at yours or take you out somewhere, you get the idea...
One less manipulative thing you could try is just texting him and saying, 'are you going to ask take me out on Friday?'
Anyway, I hope this works out!

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