May a child ask from his parent to serve him, such as to serve bring him a cup of water and the like?[1]

The above allowance for a child to accept a service from his parent is specifically if the parent chooses to do so on his own initiative. It however remains forbidden for the child to request from his parent to serve him or do an errand on his behalf, as doing so is considered an act of Chutzpa.[2] This is with exception to those cases in which the son assesses that the parent would be more than happy for the request to have been made, in which case the son may make the request of his parent.[3] Even in those cases that it is permitted for one to make the request from his parent, it should only be said in a most honorable manner, and in private not in front of others so people do not get the impression that one is make his father his servant. Even in those cases of prohibition, it is permitted for the child to hint the matter to his parent, or ask his parent in a way that does not sound like a command or instruction but rather simply as an inquiry if the parent is open for the request.[4] This, however, should be limited only to those matters which is common for a parent to perform on behalf of his child.

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[1] Pesakim Uteshuvos ibid

[2] Torah Lishma 268; Kiddushin 45b; Chut Shani 240:27; See Shut Rebbe Eliyahu Mizrachi 19; Pesakim Uteshuvos ibid footnote 537

[3] Sefer Chassidim 562

[4] See Maharsham 3:352-11; Morah Horim Ukevodam 3:33 in name of Rav Bentzion Aba haul; Sefer Ben Chacham 104 in name of Rav Elyashiv