I have cancer & my Dr. suggested considering early retirement thru S.S. Will owing back taxes prevent my qualifying?

I haven't filed taxes since I was told by Orange County that they would use any refunds due me to pay for lawyers that were assigned to represent my two minor children after they were temporarily put into the "System" because my now ex-wife left one of them in a hot car in 2006. I'm 62 as of Jan. this year and after surgery and follow-up oncological treatments am still positive for cancer. With no active tumors to treat but my "numbers" increasing I want to be able to spend as much of my remaining time with the still minor children (now 10 & 12) and family. There have been a few years that I worked and earnings were reported that I didn't bother filing either State or Federal returns. Where do I begin to resolve my IRS issues do that I can begin receiving Social Security benefits?