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Recipients of gifts or inheritances don't pay tax on them in the UK. Your parents will not have been liable to UK Inheritance Tax unless they had UK assets at the time of their death or within seven years previous that had been gifted away and even if that were the case, any UK IHT liability would have been paid by the executor of the estates with any balance coming to you.
I hope this helps but let me knowe if you have any further questions.
No, you don't. However, keep a record of it in case you are asked about it in the future.