You should be able to get to those prompts in the TurboTax program by going to "Other Tax Situations", and then start or select/edit under "Additional Tax Payments", for "Nanny and household employee tax."
It should look something like this:
Click here for "What is Schedule H?"
Click here for "A Guide to Nanny Tax for Babysitters and Employers."
Please feel free to come back to TurboTax Community with additional information or questions or click here for help in contacting Turbo Tax Support.
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