This word I am looking for basically describes the quality of a son or daughter who is obedient and devoted to taking care of the elderly parents for he realized the pain and hardship his parents went through in raising him.
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You won't find a single word that captures all of that, but "Filial obedience" or "Filial devotion" may be phrases you could use.
Maybe I am worng. Dutiful -to me has an element of obligation and the word I have in mind should carry a sense of , like GG's suggestions, appreciation toward the parents' hard work and devotion in raising their children. Anyhow, Thanks.