Need a legal assistant that is familiar with federal parole

Both myself and Husband our on federal supervision and we need something written up to modify are conditions so that we are allowed to live together. My husband is disabled he can not read or write very well and he has a lot of health issues such as bi polar and schizophrenia. I have power of attorney over all matters and I’m also his caregiver giving him his medication and helping with things that require reading or writing. He also has a hard time understanding things so I explain things to him. I need to have a paper wrote to the judge to modify conditions. He recently had issues at the halfway house he was out because he was not getting his bi polar meds at all. They kicked him out from there and he’s in the hospital now for feeling suicidal because he feels like he can’t get the proper health care and just wants to be at home with myself and our two dogs. Can you help?