It can happen but it's not normal. Often there is a rest period after pip but once zipped it should pop out in a few hours. In my experience with these instances invariably the chick has become stuck to the membrane. They are all cramped in the shell and if a small area starts to stick they really can't move enough to break free. When this occurs is late in hatch, the humidity has been jumping all around from others hatching so the album in shell turns to glue. If this sounds like your situation go ahead and assist. Be prepared to use 90-100F water in bowl to wash the chick as clean as you can before putting back in incubator or under heat lamp in brooder. The last to hatch on my last hatch was tedious washing and getting gunk from wing so it moved freely. Rest of inside shell was perfect, for some reason side of face, wing and part of back was glue. There was no way he'd make in on his own. Was zipped for a good 8 hours when I finally took him out.
Cation not to get water around/in mouth and nostrils when your bathing and lightly rubbing it clean. If your doing this also make sure to clean the butt very well. Any glue or obstruction there will lead to pasty butt and future attention. If your washing, get the butt clean for good measure.