As much as you love your friends, it is natural to feel uncomfortable when they ask you to cover for them in front of their parents. I would know, I used to do it a lot for my best friend in high school.
To her defense, her parents were terribly strict; they quite literally made it impossible for her to have a life. So all her friends had to step in and help her out in any way possible, including lying to them about her whereabouts. When we were 16, she got a boyfriend, and she had to keep him a complete secret to keep her parents from finding out. Only her closest friends knew, and we literally had to be her alibi every time she went on a date and needed a cover story.
They broke up after two years of dating, and her parents never found out.