Наши родители опоздали на поезд? - Нет, они только что сели на поезд.
Had our parents missed the train?-No, they had just caught the train.
Have our parents missed the train?-No, they have just caught the train.
Were our parents missing the train?-No, they were just catching the train.
Did our parents miss the train?-No, they just caught the train.