It's not necessarily two trips. She could assist your parents to make an application by phone, receive a kit or go online to fill out a PDF—assisting your parents because I understand that your parents may not be at ease doing that—to make an online application to the extent that it's available at the time of the election.
The application for the kit itself, for the form itself, could be obtained. She would then assist them in filling out the information and mail it back to the returning office if it's a paper version or carry it back. Then the kit would be mailed to your parents. At that point, they would fill it out and mail it back, or somebody could help them return it. There are different scenarios there.