The hard part is over.
I'm matching you with one of our specialists who will be calling you in the next few minutes.
I can't tell from your brief description whether your parents could stay where they are for a little longer if they had some support measures in place, or if it truly is time to find a different place for them to live.
If you want to describe the situation in more detail, people in similar situations may be able to share what they've done.
Regarding medical alert systems: My mother and my husband both have them. My mother used it a couple of weeks ago when she fell. Hooray! I doubt that my husband would have the presence of mind to remember he has it in an emergency. I pay for it every month, but I don't rely on it much. Perhaps your mother could use it, even if your father could not.