I don't know of a way to return the user to the parent record in View mode. It return you to the Parent record in the state it was in when you left it, which was edit mode (well, actually add mode), but in a typical situation the User is working their way down a long form and filling in fields and adding children record as they go. ie there could be multiple child tales they are completing as they work their way though the parent form.
If you want to ensure that the user is returned the the Parent record in View mode, then the add child button would need to be clicked in view mode, so you would need to suppress the Add Child button from appearing in edit or add modes on the form.
