This is another name used for home carer or support worker. The role of a domiciliary care worker really depends on the requirements of the client and their needs, which will sometimes vary on each visit.
As a domiciliary care worker you may be visiting people in their own homes to assist them in household tasks, personal care and occasionally accompanying the client on trips or visits for example to the doctor or shops.
Sometimes homecarers will provide a full range of personal care too, from assisting with washing and dressing in the morning, to aiding with toileting during the day.