I understand you want to honor both your parents and bring together their different religions. The commonality you pick up on is the brotherhood of their ancestors. Jacob is the progenitor of the Jews. His twin brother Esau is the progenitor of the Christians, whose foundation is seated in Rome and the Roman Catholic Church but extends to Protestants as well. Their father Isaac's half brother is Ishmael, the progenitor of the Muslims. These are the great Abrahamic religions.
The Old Testament is best read in Hebrew. English translations tend to be deceptive. Stick to Orthodox Jewish sources for what defines Judaism. They're the ones who observe all the laws, so they're the ones who know it best. Believe it or not, reincarnation is a central tenet of Judaism. Souls are real, and these material bodies we inhabit are mere temporary husks. Look at the 613 laws a Jew must obey. He cannot observe all of them in one lifetime. Some are exclusively for men. Some are exclusively for women. Some are exclusively for high priests. Some are exclusively for kings. Only a reincarnated soul can observe all 613.
Incidentally, there is no such word as "religion" in the Hebrew Old Testament.