Our frail parents live with us. How do we help them keep praying and worshipping?

Make the way easier, rather than dropping the worship, because Islam gives many concessions to the sick. They can pray sitting or lying down according to their ability, and perform tayammum if water would harm them. Provide a prayer chair, a prayer mat within easy reach, and a water container nearby for wudu'. Remind them of prayer times gently, without a scolding tone. If they often get confused about the number of rak'ahs, invite them to pray in congregation so it is easy to follow the imam. Also bring them to listen to Qur'an recitation and do dhikr together with the grandchildren. Allah does not burden a soul “beyond what it can bear” (Surah al-Baqarah 2:286). For specific questions such as praying while wearing medical tubes, ask the religious office or a knowledgeable ustaz. See devotion to parents.