I think including context about what kind of help would get you more specific. Financial help is different from mental support is different from help with moving things. Also, are you looking for professional help or just help from a friend?

Assuming you’re referring to asking for help from a friend, I recommend not thinking of it as “help”, which implies that you’re asking for a gift, but consider it a “favor”, which implies that you’re making a request with the understanding that you intend to return the favor if the opportunity arises.

I enjoy helping my friends, but I’ll also tend to weigh the situation and if it’s a big inconvenience to help (and if it’s not a desperate need), I’ve been known to decline or help in some other way. However, if a friend asks for a favor, I’m much more likely to say yes because I understand this person wants a sustained relationship with me and intends that we help each other in that relationship rather than having it be a 1-way street.

Folks generally don’t like being friends with people that only take and don’t give.