Disabled and namaz

Salaam sisters and brothers. I've been trying to get help regarding this issue I have since being a child and wondering if you could help. I am 22 years old and I am disabled wheelchair bound. My question is not a question but more of a issue I need help with. I was never really taught about Islam growing up, my family just expected us to know how to pray etc. my family always told me I didn't have to do namaz because of my issues but as I got older they told me I should be praying but I have a lot of reasons as to why I'm not praying. I have incontinence problems, I don't go two minutes without having an accident and if I do wudo it breaks two minutes later. I can't perform wudo properly as I can't really wash my arms legs and face properly as I can't reach them. I can't wear a hijab or appropriate clothing on my own so I'm not sure what I would do when I'm praying as I've got no help to wear clothing, I also can't cover my feet. Lastly due to my disabilities I don't really know how to pray. I don't know what to say or when to lift my arms up or not. It's embarrassing but this is why I'm seeking help.