I kind of have a similar situation but from the non-cripple side of things. My girlfriend has sma, is wheelchair bound for life and is barely able to move most of her body so I can at least give you my side of a similar story.

First and foremost, assuming that you're an adult, explain to your parents what you need help with. You don't have to go into explicit detail and unless they're hyper religious I really doubt that they'd care all that much if you wanted to cuddle someone. Anything that happens afterwards doesn't need to be discussed. Sure there's the awkwardness of having a 3rd party involved in some aspects, but the girl your seeing already knows your disabled so assuming she genuinely likes you she won't really care about what it takes for you two to enjoy intimate time together and neither should anyone that cares about you.

As for making out with no hands, you only need your mouth to kiss, use that. It might be a little different than your porn style, body grinding make out sesh, but it's still wonderful when it's with someone you care about.

As to how you two kiss/make out, well....just flat out discuss it. Assuming something becomes of this relationship, communication is vital for anything to work. You have to talk about how your going to do things before hand and what works and what doesn't because you can't physically make some changes yourself. On the upside though it makes actually doing intimate things lass awkward. You get all the awkwardness over with in the talking and all that's left is the fun of the act itself.

Tl;dr: you're and adult (I think), with adult needs, do adult stuff and make sure your parents know this (they probably already do) and I'm sure that they'll help ya out and after a while it won't be so awkward. After that talk to your special someone about all of your concerns, what you know and what you don't know, and then just share in the experience together.