Broadway veteran Wendy Waring, who stars in “Madame Defarge,” the new musical that had its world premiere at the Gloucester Stage Company over the weekend, feels right at home on the North Shore. That’s because she is, sort of. The actress’s parents, Bea and Bayard Waring, are longtime residents of Rockport. (If the name rings a bell, Bea Waring is a past president of the GSC Board of Directors and was Miss America 1948.) While her parents were in the audience on opening night, Waring’s husband, John Hillner, was onstage with her. He costars in the show, which runs through June 2.