Using Medicaid and Medicare to cover in home care?

Has anyone had to use either to pay for in home care for elder parents? What is it like? I guess I just want to know how much care my parents can recieve in home and what it is like or who does it. Do they come in and demand this or that regarding the home, is it rough to deal with considering I currently live in the home and care for them, are they going to make demands of me or my siblings? Will they want to make changes in the home? I'm just not sure what to expect. And would appreciate some input.