If you want to bring a caregiver from abroad to take care of a dependent person, you have two options to legally employ them.
Employer model: The dependent person or a family member hires the caregiver directly. As the employer, the family must handle all formalities, including determining working hours and duties, paying taxes and social security contributions, and registering with the relevant statutory accident insurance.
Secondment model: The dependent person or family member hires a foreign company through an agency, which then sends the caregiver. You are essentially using the services of a foreign company and paying a monthly fee as specified in the contract.