As long as no medical procedures need to be done to the babies at home, I would recommend a Postpartum Doula to them.
They work for about $20 an hour and do exactly what the parents sound like they are looking for. Some PP Doulas will work out an overnight package, some will come during the day and even help with light housework and preparing meals. And postpartum doulas don't have liability insurance for providing services like this, so I'm not sure why a nurse would especially if she is not performing clinical stuff and only acting as a helper. Always make the parents sign something.
I'd say nurses who are interested in helping parents like this out of the hospital should absolutely take a postpartum doula course! They'll teach you about the "legal perspective" of it too.
Hope that was helpful in some way.