Never mind I figured it out. For anyone who wants to know:
1) You use the set property action.
2) Set the target as the game object you want to be as the child.
3) Under the "property" place set it as tansform -> parent -> Transform (transform.parent)
4) Set the parent game object.
However my problem still exists. This only works with objects that are not prefabs. I'm working with prefabs and it sometimes gives me an errors saying "that prefabs could corrupt the data."
Anymore help on this??
Thanks!!
~Sp00m