There are physical therapists who do that. I know someone in MD who couldn't get out of her chair and the PT came to the house to help her. Years ago when my husband had his knee replacement the PT came to the house for about 3 weeks. That was also in MD.

Try asking your neurologist or an orthopedist for a recommendation.

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I don't have any personal experience with this yet: It's call Luna and looks like it serves half of the US -- getluna.com and it lists various insurances
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I live in NY area and when I typed in "physical therapy come to your home" into Google I got a lot of local answers which surprised me! I came across another one the other day that seemed national -- trying to locate it on computer. Will come back with answer hopefully.