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ADF Taskflow Return to parent after completing taskflow

Use "Parent Action" component to call control flow of parent
Also in your parent taskflow you should have a control flow for this outcome.
The child will be calling this taskflow using parent action activity.

ADF TaskFlow Parameters

You will require to pass page flow scope parameters from your current environment into the adf taskflow:

Open the taskflow in overview mode and create a parameter

Open the jspx page or the fragment where you are plcing this taksflow,
go to bindings tab and give the input value for taskflow parameter from you page flow variable as in below image