Taking one's mother and sister on family outings

Q: I am currently living with my parents with my husband and 2 toddlers, my sister lives in her own house but has no kids. Do I need to offer my mother and sister whenever I go out with my husband and children like to the beach or for outings? My father does not take my mother out much and her only opportunity to go out for entertainment is with us. Sometimes I feel guilty if I don't offer them as I would not want to be in their situation one day but I like spending quality time with my husband and children only.