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The latest census figures show that a whopping 80 million would-be empty nesters are keeping at least one grown child under their roof. While this statistic might inspire the Dr. Phils of the world to shake their heads in rueful disbelief, it doesn't necessarily mean there are 80 million parents out there who need to get tough on their good-for-nothing "kids" who spend all day in front of the TV.

"People move back home for a variety of reasons," said Mark Edinberg, a family psychologist. "With housing prices so high, people just starting out will naturally gravitate to staying at home to save money. There are certain industries—journalism, academics, the arts—that simply don't provide starting salaries that match cost-of-living demands. Also, there are children going through difficult times—maybe there was a divorce or the death of a spouse, or a return from drug or alcohol rehab."

Chuck Newton, an independent financial advisor with Brecek & Young Advisors, Folsom, Calif., agrees.

"There are all sorts of shapes and flavors as to why kids come back home," he said. "Some might have a job that doesn't pay enough, or they got laid off and just need a few months to get on their feet, or they're building a new house and need someplace to stay for a few months."

Whatever the case, housing and feeding an adult child costs money. Below is a list of considerations you might want to ponder during those few remaining moments before you open your front door and say, with all the enthusiasm you can muster, "Welcome back, sweetheart."

Health Insurance. Chances are, unless he or she has transition issues, your child has returned home because they cannot quite cover basic living expenses. And there are few expenses more basic than healthcare coverage.

One of the biggest challenges regarding health insurance is age. If your child is 24 or older, the odds of adding him or her to your own healthcare policy are slim.

"In 90 percent of the cases, a company won't provide coverage for a family member after 23," said Frank SanPietro, director of operations and client service at Gassman & Golodny in New York. "I say 90 percent because there are still some old-line companies who provide the option. But what's happening now is that, as time goes by, even those companies are closing their loopholes. Twenty-three is becoming the hard stop."

He added that, without a company plan, covering your adult child's healthcare needs could cost four to five times more per month than what you're paying now.

"That puts you on the hook for a few hundred a month, just to make sure your kid is safe," he said, adding that in the absence of a company plan, parents might want to explore whatever insurance options are provided by the associations or volunteer groups in which they might be involved.

Chuck Newton points out the benefits of COBRA, the government-sponsored program which gives recently departed employees the option of continuing health insurance coverage for 18 months.

"If they've been laid off from their job, then they've got COBRA available," he said. "Then you just hope and pray that they're moved out after 18 months."

Click here for Part Two of "Boomerang Effect."