Impending foreclosure

Though we have never missed a mortgage payment, we are being threatened with foreclosure. We were a bit late with our property taxes twice, so the Mortgage company is forcing us to add a monthly escrow, which causes a problem with our budget. When our taxes came due in July, they paid our taxes without our knowledge, though we were about to pay it in full. Hence, we sent a check to the mortgage company paying them in full and also letting them know that we would handle our taxes in the future. So we are continuing to pay our mortgage, minus the escrow, but they are applying it to escrow instead and are threatening us with foreclosure if we don’t do both. Incidentally, the mortgage company is responsible for our being late with taxes in the first place. State and federal agencies have been of little help thus far, so here we are.