How to Become a Paid Caretaker for a Family Member in Pennsylvania

I decided to raise this issue because maybe someone will find my case useful. My father started having serious health problems - it became clear that he needed constant care. My wife and I did not know for a long time how to formalize everything correctly, because simply caring for him is one thing, but to have at least some compensation is quite another. I heard that in Pennsylvania you can become an official guardian and even get money for it, but I don’t know where to start. Has anyone gone through this?