This is straightfoward Linq-to-Objects:
listOfParents.Where(p => p.Children.Contains(childObjectToMatch))
For Linq-to-Entities, if the child object isn't tracked as an entity you might need to match on the child object identifier field:
int childObjectIdToMatch = childObjectToMatch.ID;
dbContext.Parents.Where(p => p.Children.Any(c => c.ID == childObjectIdToMatch));