Very true. I experienced this many years ago as the person offering a simple act of help to an elderly woman:

"I remember being in a small nearly two-month in-patient extension to the traditional 30-day stay I had come out of. This extended stay was not 12-step focused and had several clients there for other issues, like codependency. I remember one session but not the details, where a woman was talking about something she couldn’t accomplish, that she didn’t know how. I kept telling her she did and she was insisting she didn’t. Then I stood up, walked over to her, and held out my hand. She looked up at me and I saw the light bulbs igniting in her eyes as she smiled and said, “I can ask for help.”

I have since remembered the details. Energetic tears of joy and connection triggered precious memories of the momentous moment. Today in my mind’s eye I saw fear melt into love when she realized I wasn’t suggesting I help her stand on her chair to pull the ceiling fan chain — that I offered my hand to pull it for her."

That's from the explanation section of my poem, https://medium.com/write-under-the-moon/help-8246c1b9b907, subtitled, "Please just ask"