Month of year? Very important for this location. It is already late to book Sorrento for 2025.
Sorrento is a very level town, with dozens of hotels in the level area, but some cheaper "bus tour" hotels are located up on the hillside, and essentially require a shuttle bus to get their guests to downtown Sorrento.
You have not yet done enough research (search box top center) about how crowded transportation is from May to September. During these months, the busses that originate in Sorrento (toward Amalfi) have a waiting line that is longer than the number of people who will fit on the next half-hourly bus. The train (Naples and Pompeii, say) is incredibly hot and crowded. I think your parents will be given a seat, but that cannot be assured. The Circumvesuviana is elbow-to-elbow, very tight. Pompeii and Capri are wonderful outings, easily done from Sorrento. But both destinations have MILES of walking, and are very exposed to heat and sun. Capri is largely pedestrianized.
Both Positano and Amalfi require a certain number of steps to climb, especially Positano.