I'm sorry, the link I gave you was only about actual benefits. I should know better, because I used to temp for our social services dept.
My mum has a blue badge. We had to go via her local social services for it. They sent us a form, which we returned and then we got the badge. Mum is on higher rate mobility, so it was automatic, but if you're on anything lower, then you need to get your GP to deal with appropriate parts of the form.
When the OT came to do my mum's assessment for a bathroom adaptation, she also arranged for things like a shower chair etc etc., and has also helped her to apply for extra pension credits.
If your friend needs anything special in the way of home modifications - bathroom adaptations etc., then again, social services will be your first point of contact. They will sent an Occupational Therapist to have a chat with the client and assess the situation, and will then prioritise the case according to strict, written criteria. However, these people are very overworked, even for top priority cases, so your friend should expect a lengthy wait.
Give social services a chance, and they can be very helpful. Social workers and their various team professionals are a much maligned breed. The public only tend to see them when things go wrong, but they make an awful lot of lives go right, and they do, genuinely, have a desire to help people.