The ADRC of Waukesha has many, easily accessible resources for seniors and adults with disabilities. From senior nutrition to transportation, to even caregiver support the ADRC of Waukesha offers a lot of services. They even have  a "Community Connect" form.
https://www.waukeshacounty.gov/health-and-human-services/aging-and-disability-resource-center-adrc-of-waukesha-county/