Yes, you can use db.ReferenceProperty to do just that.
The reference property simply stores the unique key of the object that it refers to. Thus, mothers and fathers could contain a copy of the key corresponding to their child, as follows:
class Child(db.Model):
...
class Father(db.Model):
child = db.ReferenceProperty(Child)
...
class Mother(db.Model):
child = db.ReferenceProperty(Child)
...
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