Does health insurance help pay the cost of adult day care?

In Pennsylvania Medicare did pay for my grandmother to go to Adult Daycare also Medicaid will help pay for the expenses.

That would be rare – so rare I’ve never heard of it anyway. The only insurance that pays for that (unless there are unusual circumstances) would be some long-term care insurance policies, which once only paid for nursing home care, but now often pay for alternatives. Sorry I couldn't give you more hope, but it never hurts to check. Give them a call.
Good luck,
Carol