Smiley1965, as MACinCT said, there are classes that can help you learn home health aide techniques or even to become a certified nursing assistant (CNA). If you want your family members to pay you, then a personal care agreement (PCA) is important to have in place and Aging Care explains why and provides a template for such at: https://www.agingcare.com/articles/personal-care-agreements-compensate-family-caregivers-181562.htm
Do you want to be paid? Enter into a contract with your parents to pay you. If they are indigent, a small amount of compensation is available through Medicaid in some states.