I am primary caregiver for two elderly parents with mental & physical issues. Is there a way I can get paid for this?

Yes, you can get paid... your parents can pay you to be their Caregiver from their own retirement fund. Now, if your parents can afford to pay you, then they can afford to pay a certified Caregiver, thus giving you time to go back to work to add to your own social security and medicare fund.

Otherwise, if your parent qualify to be on Medicaid, you can check with your State Medicaid office to see if Medicaid could sent out an Aide to help you for a few hours during the week. Also check with your State Medicaid to see if the State has a "Cash and Counseling" program. Please remember each State is different, has their own rules and regulations, and some have long waiting lists.