I am helping take care of my Dad and Mom in their own home. Any state help?

My parents are Mother 83. and my Dad is 90 soon to be 91 and in a wheel chair all the time or his recliner. He needs help bathing, taking pills and bathroom needs.. He has a fractured vertebrae and severe arthritis in his legs and hips. Mother needs help with;duties around the house and also has arthritis.