I'll let others get into more specifics, but honestly, Google is your friend with this. You can easily visit any of the websites for the services you mentioned (www.medicaid.gov, www.ssa.gov) and you can also look at State resources. You don't provide your State so I can't link anything but States have their own resources for senior citizens that you can also look into. Try a Google search like whatever county and state you are in with "senior citizen services". Other than that, any estate planning would be dependent upon how many (or any) assets the individual has. That would determine the type of planning that would need to be done. Otherwise, a simple will can be drafted by any estate/will lawyer in your local area. Call around and ask for pricing. Most places will charge a flat fee for this service.