It would be normal to have your parents join you for a meal while your bf’s parents are in town. Depending on the overall schedule you have 3 meal options – Saturday lunch, Saturday dinner, Sunday Brunch. Sit down with your boyfriend and request that your parents be invited to ONE of those three options. That’s it. This is NOT your parents’ weekend, it is his weekend with his family.
Do not invite your parents over to “hang out”. Is your mom normally demanding of your time and attention? If so, this is a good opportunity to set some boundaries with your mom. Do you think she’s worried that his parents are going to convince you to move closer to them, taking you away?