I have some difficulties implementing the repository and service pattern in my RavenDB project. The major concern is how my repository interface should look like because in Rave
First off, ask why you want to use the repository pattern?
If you're wanting to use the pattern because you're doing domain driven design, then as another of these answers points out, you need to re-think the intent of your query, and talk about it in terms of your domain - and you can start to model things around this.
In that case, specifications are probably your friend and you should look into them.
HOWEVER, let's look at a single part of your question momentarily before continuing with my answer:
seems like a bad idea because it's not generic enough and requires that I implement this method for if I would change from RavenDB to a common sql server.
You're going about it the wrong way - trying to make your system entirely persistence-agnostic at this level is asking for trouble - if you try hiding the unique features of your datastore from the queries themselves then why bother using RavenDB?
A method I tend to use in simple document-oriented (IE, I do talk in terms of data, which is what you appear to be doing), is to split up my queries from my commands.
Ask yourself, why do you want to query for your documents by parent ID? Is it to display a list on a page? Why are you trying to model this in terms of documents then? Why not model this in terms of a view model and use the most effective method of retrieving this data from RavenDB? (A query over an index (dynamic or otherwise)), stick this in a factory which takes 'some inputs' and generates 'the output' and if you do decide to change your persistence store, you can change these factories. (I go one step further in my ASP.NET MVC applications, and have single action controllers, and I don't call them controllers, making the query from those in most cases).
If you want to actually pull out your documents by parent id in order to update them or run some business logic across them, perhaps you've modelled them wrong - a write operation will typically only involve change to a single document, or in other words you should be modelling your documents around your transaction boundaries.
TL;DR
Think about what it is you actually want to achieve - why do you want to use the "Repository pattern" or the "Service pattern" - these words exist as ways of describing a scenario you might end up with if you model your application around your needs, as a common way of expressing the role of a certain object- not as something you need to shoehorn your every piece of functionality into.