Do you know if Medicaid /Medicare would pay me to take care of my old/ disable dad? An agency/aid caring for him for10 hrs now.

I am a stay at home mom with 3 year old twins and every time the aid/agency has problem I had to take care of my dad. I do not leave with my dad. This is like twice a week. We had changed agencies few time and now I am so ready to do the caring for dad myself. However, I will need to get paid to get some help like cleaning/laundry/cooking. Any experience on this?. Please help