Here's a link to the Eastside Coalition that Sno mentioned. http://www.emmca.org/index.html
Even if the person isn't in an area they can help with, you can get a lot of info from them. All of the in-home elderly care services offer transportation to medical appointments. The Eastside Coalition has brochures for many of these businesses. With the construction they might be hard to get to, it's on Monona Dr right next to the Lake Edge shopping center in a converted house.
We use Independent Living for my parents for some in-home stuff and are very happy with them. They also offer transportation. http://www.independentlivinginc.org/transportation.html
This might be more than you're looking for and too last-minute but there's a free seminar tonight at Agrace Hospicecare in Fitchburg on "Help for your aging parents....and you" https://www.agracehospicecare.org/index ... 72f78bcdb8
This may not be your situation at all but just thought I'd throw it out there.