Companion Care Needed For My Parents

Hi, I am looking for care for my my parents. Mostly transpiration and checking in on them. They are active, 91 and 85. They still travel regularly but my mother has on the onset of Dementia. She would like to continue to go to her Pilates class to the grocery store etc. My dad still likes to meet his friends out for lunch and needs rides to errands. Let me know if this is something you do. They live in Santa Monica and they have a dog and cat.