Companion Care Needed - Full-time / Part-time

My sister and I are looking for help caring for my 94-year-old mother. She recently stopped driving, and we need assistance helping her run errands (doctor visits, grocery store, etc.), travel to her lake home near Cold Spring. Other duties may evolve to include light cleaning at her apartment, help with laundry and food preparation. The position would start out to be just the driving, and based on performance and building trust with my mom, would expand into the other duties. There would be no set schedule to start, but could evolve into a weekly schedule including the additional tasks. She was just diagnosed with dementia and we are planning for the future.