Is time to retain legal council for my parents?

My father is disabled, has not worked in 5 years. My mother recently had to retire to stay home and care for my father, because he requires 24/7 attention. Their sole source of income (SS Disability) was abruptly canceled 3 months ago, because SS determined they overpayed my father many years ago, when he was able to work. My parents have done everything by the book in regards to reporting income, when he was able to work. Due to SS error in paying my father years ago- they have had to use every dime of their savings to survive, and there is no end in sight to this mess. Currently my siblings and I are sending money to ensure they have what they need (food, house payment, medication, etc...) but I feel we need to do more, than just wait on the government to "make the decision, to reinstate their benefits". Any advise?