HELP!-Chick stuck to shell! Should I have intervened?

Hi, I'm a new chicken caretaker and my first batch of eggs began hatching 3 days ago under the Hen. All hatched quite quickly and appear to be very healthy, until today.
2 Hens had set on the nest so as the chicks hatch I give them to one of the mothers who I placed in a separate enclosure, and allow the other hen to set on the remianing eggs. ( which is not really pertaining to this problem)
Today, first thing in the morning I noticed 2 more eggs pipping, one had the chicks head protruding already.
I left the hen alone and when I returned several hours later, the one egg had fully hatched, and the chick was dry and active and the other whos head was protruding hours prior still had made no progress. It was breathing but not making much noise or kicking out. It appeared its neck and back were dried to the membrane.
I broke a small bit of the shell off hoping to help it along, and put it back under the hen to do its thing.
Checking back a few hours later it still hadnt progressed.
I gently broke the shell down its chest to its feet a little-bit to hopefully allow it some space to kick out, placed it back under the hen to check on later.
Hours later when I re-checked It still hadnt broken free...it had been well over 6 hours since I first noticed that it looked stuck.
I decided to intervene, it looked weak, was still breathing but dry and stuck to the remaing half of the shell.
I gently removed the shell, and the dryed membrane from its neck and back. It kicked a bit as it was freed`, but looks pretty sad and weak.
I placed it under the appointed mother hen with the 6 already hatched these past days to warm up.
Should I keep it with the hen or move it inside under a heat lamp?
Not sure how much or even 'if' I should interevene further.
Did I screw up by messing with its natural hatch?

 

Thank you so much everyone for the feedback
Yes, I did leave the little guy under the broody-hen for the evening, I was hesitant to pull him back out and tamper further.
Upon checking on them this morning I found all to be thriving!--I cant even tell whick one I was concerned about as they are all active and enjoying the sunshine in their run.
I am so pleased! I still have one egg under the other hen, but have almost given up on it...it has been 25 days, but a pretty good hatch in all, out of 8 eggs, 7 survived
Now how in the world do I post pics in here. I uploaded photos but they didnt display on my page.
when i press the image IMG it doesnt give me an upload prompt...hmmm