Haley told Leah and Dr Simcha Goldin on Wednesday that she'd work with them and Israeli diplomats to advocate for the return, the US mission said.
Lt Hadar Goldin and two other Israeli soldiers were ambushed and killed by Hamas militants after a UN-backed cease-fire took effect in Gaza in August 2014.
Goldin's parents have since made international appeals for the 23-year-old soldier's remains to be brought back to Israel for burial.
His address to the gathering mentioned the ongoing efforts to secure Goldin's remains and those of another soldier killed in the fighting, Oron Shaul.
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Hamas has demanded that Israel release dozens of prisoners before it opens negotiations on returning the soldiers' remains.
The Goldins said in a statement yesterday they were "very optimistic about our cause" after talking with Haley and felt she'd ensure it gets further attention at the UN.
"We look forward to having US support in our quest to return our son's body home for a proper burial," they said.