Verified answer

I think it should say, We are the people OUR parents warned us about.

It's a great line, and the grammar will come out fine spoken. Just in case you're curious, the spelling of the second "are" is "our."

It's very good, apart from the fact you would say "...the people our parents...". I know that many people find that confusing though because you tend to say "our" like "are" in sentences like that.

"We are the people about whom our parents warned."

☼