"buenos consejos" is plural in Spanish, unlike the non-count "advice" in English. We also have the singular "buen consejo" to refer to a single piece of advice. In a parents-children relationship, one would expect several pieces of good advice to be (or to have been) given/received. Bearing this in mind, in Spanish one would normally find your question (1) "¿Te han dado buenos consejos tus padres?", or:
(2) ¿Te han dado algún buen consejo tus padres? (Have your parents given you any good advice (i.e. throughout your life)?)
The singular indeterminate "un buen consejo" would be infrequent in questions.
The answer to (1) could be, as guifa said in a comment, "Me los han dado". An intensifier could even be used to emphasize the multiple recommendations received: "Me han dado muchos buenos consejos."
The answer to (2) would normaly focus on some specific advice, for example: "Sí, me aconsejaron que complete mi estudios". (Yes, they advised me to complete my education.)