My 90 yr old mother in law recently broke her hip and can no longer drive. Besides caring for her, I am constantly running errands for her. Taking her to doctor appointments, going to pharmacy to fill medications and then delivering them to her at my sister in laws home, picking up things for her at Wal-Mart, etc. I had a brand new car and put so many miles on it just doing things for her. My sister in law can do it for her but she doesn't. Can we charge my mother in law for mileage? If so, can I charge her the federal rate of .56 cents per mile? Or .23.5 cents per mile. What does the IRS mean by medical mile?