My parents need help cleaning the house and emptying the trash, and some routine daily chores. Is their help?

I'm sure there are resources on this website that you can use to search for help!
Here is a free helpful guide I just saw on here: https://www.agingcare.com/eBook/Home-Care?ebs=rtfhg

There are also a lot of similar questions to this so I'd suggest checking those out and seeing what advice others have posted for them! :)

I also just did a quick Google search and found:
http://www.eldercaredirectory.org/state-resources.htm
care/housekeeping

Google "elder helpers." There is an organization called elderhelpers.org that hooks up seniors needing help with volunteers. I don't know if they have people in the right area for your parents; you need to plug in their information to see.

Luigi, the find if there are any volunteer groups that could help with your parents please contact your local council on aging.

https://www.agingcare.com/local/Area-Agency-on-Aging