Services for parents or any elder persons living in another state can be arranged through the area agency on aging (AAA) in their area. Their specific AAA can be identified through the Eldercare Locator by calling the toll-free number (1-800-677-1116). Eldercare Locator is a service of the Administration on Aging of the U.S. Department of Health and Human Services.
It is important to keep in mind that the elder may not be as willing to accept services as you would like them to be. Discussing how these services will keep them independent may be a good way to introduce the subject.