Is there a service or company that can streamline the application process for MediCal and other senior services for my parents?

My parents are 88/89., I just moved them in with me in California. I need help signing them up for elderly services since I work fulltime. Please help? I moved my Mother and my Aunt in with me from Wash. D.C. on 11/18/2013. They are low income and have lived together since the late '50s. I have a family with 3 kids and commute to SanFran for work daily. I don't have much support for them because my wife and I both work outside the home. We haven't had much bandwidth at all to garner support for them while dealing with our family's day-to-day. My mom will need internment in home eventually because she has ALZ and is slowly becoming more of a problem in the home with each passing week. I'll need daily transportation to/from senior center for my Aunt who is basically sound mentally but at 90 almost, she's pretty frail too. I need help getting them setup and back on the path to a quality existence if at all possible.