Yes, if you live with them:
"When applying for a learner's permit you must present documentation of identification proving your identity, Social Security number, lawful status, and two documents proving Indiana residency. If you do not have two original documents proving your Indiana residency, you may instead submit an Indiana Residency Affidavit. The affidavit must be signed by an individual who is at least 18 years of age and with whom you reside. The individual signing an Indiana Residency Affidavit must present his or her unexpired Indiana driver’s license or identification card, one document proving identity, and two documents proving their Indiana residency. Please note that the BMV does not accept Matricula Consular cards for purposes of establishing identity or residency."