It is a very judgmental statement, because it assumes that if you are living with your parents, then you are a leech and you are not capable of taking care of yourself.
I guess this could be true in American culture. In many other cultures, it is not.
In fact, it is often the most resourceful, most capable and wealthiest adult child who stays with the parents. Why? Because he is best able to take care of them, AND himself, AND his spouse, AND his kids.