Any recommendations on who to call to have handicap bars installed in a bathroom in Raleigh, NC?

Good luck if you can get them free, otherwise call your favorite plumber, carpenter or handyman.
Not difficult I did mine myself.

llove, when my parents needed to have grab bars placed in their bathroom, they called their favorite plumbing company that was familiar with the process. This was an out-of-pocket expense for them.

Try American's with Disabilities. They came to our home and installed hand rails going out to the back yard where my dad loved to BBQ and going down the 3 stairs from the kitchen into the garage. They used re-purposed wood and didn't charge us although we made a donation of our choice.