How to fill a picklist with multiple fields from another form (and save just ID as picklist value)

How to fill a picklist with multiple fields from another form (and save just ID as picklist value)

Hi, I have two forms:
"Parents" with fields like first name, last name, gender etc.
"Children" with fields like first name, last name etc. as well as two lookup fields (picklist type) named Father and Mother, that are linked to the "Parents" form.
Is there a way how to have the full name of the parent (at least first name and last name, possibly more data) displayed in the corresponding picklist, while saving just ID as the picklist value in the database?
Currently, the user only sees the ID (values  =  Parents[Gender == "F"].ID) and he/she has no chance how to tell what "real" person it is.

Is there a way how to solve this?
Any help would be greatly appreciated.
Thanks!