Is it permissible for parents to slaughter one cow as an Aqiqah for their children (two boys and two girls) now, knowing that no Aqiqah was offered for them in their childhood?

The majority of jurists are of the opinion that the aqiqah can be from camels and cattle, just as it can be from sheep. If the aqiqah is from cattle or camels, it suffices for seven people, by analogy with the sacrificial offering (hady) and the udhiyah (sacrifice of Eid al-Adha). Based on this, if a cow meets the conditions of the udhiyah, it is permissible for it to be offered as aqiqah for seven individuals.