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A good place to start is with the Maryland Access Point, which is a service provided by the Maryland State Department of Aging with the support of other State agencies. The have offices in every Maryland County and can work with you to determine what is available in Cambridge (and any part of the State). Their website with local contact information is:
They may also know of know about local nonprofits serving that county or city that provide friendly visiting type programs (usually with volunteers) and community centers for seniors, if any exist there.