The parents of the Prophet Muhammad (SAWA) were from the best believers of their time and both of them did perform their Hajj. The Proohet (SAWA) encouraged Muslims to perform J=Hajj on behalf of their percents who did not perform Hajj or in general as we read in many Hadeeths. Performing recommended Hajj on behalf of the parents is highly recommended. No doubt, the Prophet (SAWA) did perform recommended Hajj on behalf of his parents.
Wassalam.