No, insurance will not pay if your parents have not placed you on the policy yet. You may also want to check your state laws.
Having a 16-year-old daughter makes me a good source of info on this topic.
Good luck to you.
Actually, it depends on your carrier. Most parents add their children to their insurance when the kids get learners permits. Depending on your parents' policy, there may be an exclusion for not having an adult in the vehicle with you. Or there may not be. And, here's the fun part: Even if there is an exclusion, and you decide to drive the car without an adult parent and get into an accident, most courts would not uphold the exclusion. One, first party coverage (i.e., to pay for the damages to your parents' car) is pretty hard to deny; and, two, third party -- or liability -- coverage is difficult to deny by an insurance carrier because it would place your parents in too much jeopardy (getting sued, etc). Still, unless you want a huge hassle before you even get a license, don't risk it.
When does state law require a parent to add their 16 year old child with a learners permit to their auto policy?