What is the best course if I missed a court date in 2013?

In early 2013, I received a summons to appear in court on a larceny of $250 charge. I went to court, was appointed a public defender and was released with a new date on personal recognizance. I had another date that I showed up for and then was given another day in April 2013. In late March 2013, I received a phone call from my father that my mother was being air-lifted to a hospital (where she lived) because of brain tumors. After her brain surgery, we were told she had stage 4 brain cancer and we could expect 4 more months with her. Because of my father’s drinking problem, I decided to take some time off and take care of my mother. I stayed with her and missed the court date. My mother somehow lasted until August 21, 2014 when she passed away after 5 weeks in a hospice facility. Now that my mother has been laid to rest and I have gone back to work, I want to get this situation corrected. I do have some concerns. I do not have much of a criminal record. I have one misdemeanor for assault that was dismissed after a year in 2010. I have never been to jail. I live alone with my boys, ages 17 and 13. I am gainfully employed as an accountant and I am their sole provider and caretaker. My concern is that because it has been so long that I will be arrested when I go to court and then I am not sure what will happen to my boys. Another concern is that they will set a bail I cannot pay. Taking a year off from work and burying my mother has taken a financial toll.