I need the section of home health regulations of Virginia's department
of public health that describe what an aide can do vrs what a
companion, a license practical nurse (LPN) or a register nurse (RN)
can do in the home; for example, an aide can bath the patient, assist
with feeding, give medications, etc.

nacho123-ga,

Thanks for the opportunity to answer this question.

There are several pieces of conflicting information on this.  My key
resource is http://www.dhp.state.va.us/occupats.htm, which has
information on regulations for different occupations.  There seems to
be no universal regulation covering all professions that discusses the
answer to your question, only individual regulations on each type. 
However, most of what you want is covered by the Virginia Board of
Nursing, which has its regulations posted online at:
http://www.dhp.state.va.us/nursing/nursing_laws_regs.htm

Also check out:
Virginia Legislature, Title 54.1 (Chaps 29 - Medicine)
http://leg1.state.va.us/cgi-bin/legp504.exe?000+cod+TOC54010000029000000000000

(Chaps 30 - Nursing)
http://leg1.state.va.us/cgi-bin/legp504.exe?000+cod+TOC54010000030000000000000

(Chaps 31 - Nursing Home)
http://leg1.state.va.us/cgi-bin/legp504.exe?000+cod+TOC54010000031000000000000

(Chaps 34 - Drug Control)
http://leg1.state.va.us/cgi-bin/legp504.exe?000+cod+TOC54010000034000000000000

(Entirety of title 54.1)
http://leg1.state.va.us/cgi-bin/legp504.exe?000+cod+TOC5401000

I hope this provides all the information you need.  Please request a
clarification if I can help further.

Best of luck!
arimathea-ga