Elena's parents were the rulers of Avalor before Elena. By Elena's fifteenth birthday, Lucia gave her the Amulet of Avalor saying that it would always protect her from harm. A year later, Lucia and King Raul were arriving back to Avalor Castle while being chased by the evil sorceress Shuriki in the process. Once Lucia and Raul returned to the castle, Elena saw Shuriki cast a spell to murder them.
In the episode "A Day to Remember", both make a ghostly non-speaking role. Elena, thanks to her new ability to see ghosts, sees them standing next to the tomb and altar that had been set up for them on the Day of the Dead. They smile at both their daughters as Elena assures Isabel that their parents are there with them.
King Raul is held in high esteem by his eldest daughter Princess Elena.
Queen Lucia wore the Amulet of Avalor before giving it to Elena for her fifteenth birthday.