When my Grandmother needed more care than I could provide her at home (she lived with my and my new baby) - my greatest resource on available, affordable, options was her medical providers. Since she was just coming off a long hospital stay, I spoke with the counselors, and therapists at the hospital in order to identify housing and care options for my Grandmother.
Personally, I would be leery of anyone who charged for medical care advice when there are many free options out there. Contact your local Area Agency on Aging, their doctors, therapists, hospitals first before you begin to pay someone.
If they both have Medicare, that should help offset some of the costs depending on the facility that you choose for them. My Grandmother had Medicare (she was in her late 80s), private health insurance, and a decent retirement income, so I choose a private care facility instead of a state run (or other) that accepted medicare. Her Medicare did cover her regular medical care and durable medical equipment costs.
If you do not have it yet, you should execute Power of Attorney with them giving you the ability to handle all of their medical, personal, and financial needs. Also, you need to decide on DNRs and living wills if you have medical power of attorney.
I found this link : http://www.agingcarefl.org/aging/legal
I don't think this area of specialty was even around when I was taking care of my Grandmother 16 years ago. I think a regular, family, lawyer could answer most of your questions and can definitely set up the basic documents that you need.
It is so hard to make these decisions for our loved ones.
Sending Hugs your way.