Do my parents have to do anything to there insurance so I can drive and be insured now that I got my PA Permit?

We live in Pennsylvania, and I just got my Driving Permit yesterday. My parents always have to drive with me in the penger seat for me to drive, so will they have to do anything or change their insurance at all for me to be able to drive and be insured with JUST my permit. The cars are a 1998 Plymouth Grand Voyager, a 2005 Kia Sorento Se, and a 2011 BMW 328xi, and I will be driving all of them if it makes a difference