Other ways of being involved with the Military?

I've wanted to join the Military since I was 4. Both my parents are retired Army, and it has been something I've planned to do all my life. When I was 17, I got rejected from all branches due to Mild Cerebral Palsy in my lower extremities. Unfortunately, there's nothing I can do to further my mobility issues. I can still walk/run ect but I'm just not "up to par" regardless. Are there other ways to be involved in the Military? It's just really disheartening, because again, this is something I've wanted since I've been 4, I'm 19 now.