Is it permissible to stay with an incapacitated father to pray with him at home instead of going to the mosque?

If the father is old and unable to go out for congregational prayer, he is excused and will receive the reward of the congregation. As for the son, he is required to attend congregational prayer unless the father is in urgent need of him, especially if he hears the call to prayer, due to the Prophet's (peace and blessings be upon him) saying: "Whoever hears the call and does not come, there is no prayer for him except for one with an excuse." The Prophet (peace and blessings be upon him) commanded the blind man who had no guide to answer the call if he heard it, and he intended to burn the houses of those who stayed behind from prayer.