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What cleaning? Cleaning the child's house? Forget it!
Going to fetch him and taking him home again... Mnmnmn. Not really.
Catering for him if his father invites him to supper? Well, if cooking for your care recipient is part of your job, then arguably that's reasonable.
You say your care recipient is closely related to your employer. What relationship exists between your employer and the adult child, then?
As long as you were properly paid for the additional time you spend on the adult child, would you particularly mind the extra work?
We had a client (I worked for a VNA) that the wife complained that an aide she received did not clean, do laundry or dishes. My boss said, as long as there are others in the household, the aide is not responsible for cleaning, laundry and dishes. If the client lived alone, then the aide was responsible to do light housekeeping, dishes and laundry.
If your responsibilities were not discussed during hire, its time to discuss them now. Start with, ordinarily ....
So as others said, I would speak to whoever signs your paycheck. Since it's really up to them.
I have a feeling there is no employment contract, right? It is probably too late to have one drawn up because the family somehow will throw in chores that they want you to do for the rest of the family members.
Your job is just for the recipient, and anything else would be of your own choice.
If this is getting too overwhelming with other family members pulling at you, time to give two weeks notice.