It will probably be just fine. The first pips aren't always exactly how we expect them to be. Each hatch is different.
If you try to help right now, you will more than likely do more harm than good. If it can't breathe, it will probably have already suffocated. If it pipped through a blood vessel, then it's already bled to death.
If, on the other hand, it can breathe and has not punctured a blood vessel, then what it needs right now is to rest until it has the strength to keep working. If you try to help, you may puncture a blood vessel or cause the membranes to dry out by removing it from the incubator.
What I would do is watch and wait. If it is alive & strong but having trouble "zipping" because of the location of the pip, then it will continue to chip at the same spot. The opening may get larger and a little wider and you may be able to see the beak after a while. But if after 24-48 hours it is still pipped in only one spot--no sign of zipping--then and ONLY then you might be able to help (by following the much repeated instructions for help-outs).
You probably won't compromise the rest of the hatch by opening the incubator once or twice. I think as long as you keep openings to an absolute minimum, most of the time you're fine. It's not really a matter of the chicks living or dying so much as each time you open it a percentage of their moisture is lost and you risk making it harder (and potentially impossible) for them to hatch out.
However, for the reasons I just stated, I would nevertheless keep the 'bator closed for another 24-48 hours and only help if it becomes obviously necessary.
Keep us updated.