How can I get paid for taking care of my mom?

Make sure that she is doing tax withholding including social security and medicare withholding. IRS requires this.

Simplier to just use a payroll service.

BUT, if you are looking for some agency to pay you....well, you might see if there is a Medicaid payment in your state. But, even then, it is only going to be a couple hours a week...not money to live on for you.

You write up a contract that your mother signs and you sign for how much she is going to pay you to do the following services in taking care of her.