What is the procedure to file for power of attorney of an elderly parent? Is this something I can do on my own?

I I am taking care of my bed ridden Mother’s who is also developing dementia. So far I’ve had no trouble with businesses or doctors allowing me to make decisions without power of attorney, but I am having some issues where I have to have it. I don’t have the money to hire an attorney so my questions concerned whether or not this is something I can file on my own. What are the procedures that I need to take and the paperwork that I need to turn in to get this done? Do I have to file for power of attorney and go to a hearing? My mother had agreed to sign the paperwork for power of attorney but I was told that she had to have an ID to do so, I have been trying to get her birth certificate from the state of Indiana so I can try to get an ID for her. If there is any way that we can have her sign without an ID that would be best, but if not I have to figure out how to do it legally through the courts. I am thoroughly confused and stressed over this whole situation, what can I do?