How do I get help for my 93 year old father and 89 year old mother still living alone in their home?

You can have Meals on Wheels delivered to them weekly, medications can be ordered and delivered from their pharmacy of choice, and often Senior Services have volunteers that will run small errands for the elderly.
Call your parents local Area Agency on Aging and they can get you going in the right direction.
Otherwise your parents can hire help from the many different care agencies in their area to assist them.

you can go with an agency and get help. Depends on how much they need, but you could even start with 4 hours a day, or even every other day to start.

If they do not consent and won’t pay, you do nothing. And if they’re kegakky competent you suggest a reputable agency. I’ve heard enough here from small ones to not recommend them.

YOU need Your money, your job, and time.