Many of the changes that make a home easier cost little (sample guide): a second handrail on the stairs, brighter bulbs on the landing, a grab rail by the bath, a chair in the kitchen for sitting while cooking.
Move the things used every day to between waist and shoulder height, and keep a clear path from the bed to the bathroom at night.
An occupational therapist can look at the house and suggest changes. Ask the doctor how to get a referral in your area. This guide is general information, not advice for your situation.