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You could check with your State Medicaid office to see what programs, if any, are available to pay a family caregiver. But note, even if the State has such a program the pay would be minimum wage for a couple hours per day.
If a patient needs around the clock care, Medicaid finds its less expensive to place a patient into a continuing care facility then to pay 3 full shifts a day at the person's home. It's something to thing about for the future, as to have one family member be around the clock caregiver is very exhausting and results in health issues for the caregiver.... one cannot survive on 2 or 3 hours a sleep each day.
If you find someone outside of an Agency, thus self-employed, then your parents would need to add a "workman's comp" rider on their homeowner's insurance.