In most cases, no, a chick shouldn't need help. It can take a long time between first internal pip and final hatch, and some folks confuse impatience with truly needing to intervene. There are those times when you just have to take the risk, though. If a chick may well die without help, for instance a seriously stuck chick or a malpositioned chick, then it becomes a case of doing what has to be done in an effort to save it.
I'm no expert on hatching. I"ve done it a few times and yes, I had to assist one chick who survived and went on to become our special Silkie roo, Smudge. But aside from the very basics, I would never attempt to walk anyone through doing it. For real help - help from people who know when to help, how to help, and when not to, the best place on the entire forum is
@AmyLynn2374 thread. I'll post a link for you. It's a big thread, and there are real experts there who understand the fine line between "hands off" and "sometimes ya just gotta try". You have the option to scroll through it or just pop into the end and ask your questions there.
https://www.backyardchickens.com/threads/hands-on-hatching-and-help.1081034/#post-16530136