Advise on housing

Hi I want some advise on housing I've got a girl of 31 as cerebral palsy left hemiplegia shorting of one leg, problems with both knees, restricted use of one hand and as four kiddies of 2,3,4 and 9 living in a one bedroom flat on the third floor in Luton, did live in London near to family, after had to move out of a flat as the three year lease was up and was suppose to be housed instead was bunged in a taxi cab to Luton with 3 kids and a baby didn't know where she and kiddies were going to, was told is only so had a place to go for now, 2years later is still in 1bedroom flat in Luton, no family near by, her health as worsened as been to solicitors, and receive a letter that the flat is suitable, the council/housing Walthamstow as been a complete disgrace. Could you help or advise on what else we could do or rights on housing in this situation. Thanks