Thanks Ro60.
A needs assessment, according to the NHS pages on this you could be recommended a service such as:
*equipment like a walking frame or personal alarm
*changes to your home such as a walk-in shower
*practical help from a paid carer
*day care for your child if either you or they are disabled
*access to day centres and lunch clubs
*moving to a care home
It misses the grab rails that occupational therapists often recommend and which, I found with my mother, do make a big difference.
Whether you will have to pay or not depends on income.
It would be good if people added their own experience of this.