I am a CNA/HHA. Are there any programs/agencies that will pay for caring for an elderly parent? Rather than having to hire an outsider.

You parent could pay you privately, as he or she would another CNA. I'd advise a legal document if you do this. If the parent is on Medicaid, there may be some hours available for pay. Your local Medicaid people (generally through Social Services) should be able to fill you in.
Carol