No good advice to share on the juggling bit, and I apologize if this sounds ghoulish, but plan now for their eventual incapacity. If they haven't done so already, get all of their financial info together in one place while they are still able to help you. Mortgage/deed, car info, credit cards, major recurring payments, investments,and insurance policies. Also all email and web passwords.

I would also suggest a visit to an estate lawyer to make sure that wills are in order and that there's a plan for all major assets.

All of this can be difficult if your parents are in denial and plan on living forever, but the more you can do now, the better off you will be later