What is the proper way for your otherwise middle to upper middle class parents to pay you to take them around?

My 70 year old parents are fairly well off, but I'm otherwise their de facto ride service. My understanding is that they should pay me an hourly rate so they can claim it on their taxes. I had been treating it like a taxi service, you take them places and they reimburse me for gas for that trip, and if they pay me any money it's just for my trouble. <br><br>It can't be right to just give them rides for free, they drive everywhere, and I have been using their money to buy them food when they stay with me, but they stay with me four months out of the year. That means I'm probably losing money overall.<br><br>If I help with groceries, that's also just my cost of living that increases proportionately to what they spend on food when they are with me.<br><br>Is this right?