The agency that you need to contact is Milford Redevelopment and Housing Partnership. I went to the website and downloaded an application and it appears that the drawing (lottery) was on March 19th 2019 and they needed to be received or postmarked by Thursday March 7th 2019. the Milford Senior Center is not involved in housing in any way.
The housing list opened on March 7th and they already held the lottery. They most likely won't reopen the list until next year or the year after.
Usually these posts are made in the newspapers. Waiting lists can be lengthy unfortunately so the best thing to do is call the individual facilities for more information. Good luck.
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