Plebes can't go to parents' seats, but I see plenty of parents coming around to Blue lower concourse who just happen to run into their mids at the refreshment stands... you can manage a short visit, but don't put your plebe in the limelight by extended hanging about.
Mids are in a duty status at the game, aren't released to liberty or other duties until Blue and Gold is sung post-game. So, it's their joyful duty to express spirit and support the team, and they're not supposed to be roaming around. Plebes gotta deliver push-ups for every Navy score!
There used to be a rule that 1/C can sit with parents/GF/BF at the game 2nd half as a privilege of their class, but I'm not sure what the current version of that rule is.
Go Navy!