Excerpt from Deathly Hallows. It is already revealed in the initial chapters what she did with her parents.
‘You're the boss,' said Ron, sounding profoundly relieved. ‘But I've never done a Memory Charm.'
'Nor have I,' said Hermione, ‘but I know the theory?'
She took a deep, calming breath, then pointed her wand at Dolohoy's forehead and said, 'Obliviate."
She only did the memory charm on her parents in the movie. In the book she modifies their memories so that they think they don’t have a daughter and that they want to go to Australia. It isn’t said what spell she used specifically.