Deciding to take my friend out of nursing home and want to know can we both buy a house together?

I currently own up down and would like to use both are income to buy one floor home and get help for him? I'm on soc sec and so is he! Can I take him out and we live together. Medicaid already took 1/2 of moneys from house sold 2 years ago he's in his seventy s and I'm 54 I'm also poa
Thank you