2000-2014 Breakthrough, but you did not wait…

"If you’ve been in America for more than five years; if you have children who are American citizens or legal residents;  if you register, pass a criminal background check, and you’re willing to pay your fair share of taxes — you’ll be able to apply to stay in this country temporarily, without fear of deportation. You can come out of the shadows and get right with the law." 

President Obama, 20141120, Thursday

Short  version:
1. If you reside in the US for >5 years
2. If you have children who are American citizens or legal residents
3. If you register, pass a criminal background check and pay your fair share of taxes