All perfect praise be to Allah, the Lord of the worlds. I testify that there is none worthy of worship except Allah and that Muhammad, sallallaahu ʻalayhi wa sallam, is His slave and Messenger.
Firstly, all praise be to Allah for guiding you to Islam and granting you deliverance from the darkness of Shirk (polytheism). We ask Him to bless us and you with steadfastness on the straight path unto death.
As for the inheritance arrangements in reference, you should know that a Muslim does not inherit from a non-Muslim. It was authentically reported that the Prophet, sallallaahu ʻalayhi wa sallam, said, “A Muslim does not inherit from a non-Muslim, and a non-Muslim does not inherit from a Muslim.” [Al-Bukhaari and Muslim]
The difference in religion prevents such inheritance. This is the view of the majority of the scholars, including the four Imaams (Ash-Shaafiʻi, Ibn Hanbal, Abu Haneefah, and Maalik). Some scholars of Fiqh, though, held that a Muslim may inherit from a non-Muslim but a non-Muslim does not inherit from a Muslim. Please, refer to fatwa 189195. The first view is stronger and has more authoritative weight. Hence, there is no inheritance between you and your parents if they passed away while remaining non-Muslims.
If someone inherited life insurance money, then given the unlawfulness of life insurance, it is lawful for the heirs to take only the amount that the deceased paid to the insurance company during his lifetime. One can find out the exact amount of the insurance money and separate it from the rest of the inheritance by asking the insurance company itself, which we believe is not difficult to do.
Allah knows best.