Combine yogurt and peaches in a freezer-safe container. Freeze until firm.
Place thawed raspberries, sugar, and orange juice in a blender, and process until smooth.
Press the raspberry mixture through a sieve, reserving puree. Discard seeds, cover and chill.
Spoon 2 teaspoons raspberry puree into parfait glasses. Top each with raspberries and ice-cream mixture. Repeat layers, ending with raspberry puree.