Applying for Medicaid. Any advice?

I have been in touch with some social serivce people but unfortunately they have been super slow getting back to us and not been of much help but we really need to get the ball rolling. We are going to be applying for some assistance to get her into either an ASL or Skilled Nursing Facility which they deem more appropriate but need some help. Will Medicare pay for any of this?? Since Mom (85) lives with us and does not own her own home do they go buy only her income (social security) or does our income come into the equation?? Do I need to get an elder lawyer involved. We live in PA and this is all so new to us and I want to make sure we proceed in the right way is getting her the best care that she needs. Thanks