Parents Names Correction In Passport

I got my passport printed when I was a minor (below 18 years) and so it reflects my father and mother's name according to their documents. My father's name in their documents is Rajesh Kumar and my mother name in their documents is Manju Tayal. Now I am 23 years old and all my educational, identity documents like Aadhaar card, pan card, driving license, voter card have my father's name written Rajesh and mother's name written Manju. I want to continue with my father and mother's name in my all documents as Rajesh and Manju respectively. My concern is that how I change my father's name as Rajesh and mother's name as Manju in my passport now. No one is a government employee. Details-Passport (Currently)(Father name - Rajesh Kumar, Mother name - Manju Tayal) Passport (Desirable changes) (Father name - Rajesh, Mother name - Manju)