Open Question: In FL if I am not listed on an issured automobile insurance but living with them am i covered?

I have received conflicting stories. I live with my parents and was their vehicle. I do not have auto insurance for myself or a vehicle. I got in an accident and now the insurance company is saying they will not cover it because I am listed as a driver on my father's policy. I was told by several different people including a lawyer that I am covered as long as I am living in the house and do not have auto insurance myself? Can anyone help?