We Got Us a Pippi Virgin - S5-E5
Continuity mistake: When they are starting Pippi and Luke is asking about her hair, you can see Dean's hand on Rory's shoulder on the side of the shot. Then it pans to them and then Dean is putting his arm around Rory.
Answer: Yes, Lane lives with both her parents. Her father does live with them, but he was only seen in the Netflix revival.