Oh sorry you did mention that it has internally pipped and is peeping. Yes, I would definitely help at this point. Make a small hole in the top of the air cell using a screw (Thats been the easiest thing for me to use, but use what you have on hand.)
Use tweezers to gently break the shell away on the air cell. Once the shell covering the air cell is gone, wet the membrane with coconut oil or warm water. You should see if there are any large blood vessels. If there are, ensure that the chick can breathe (make sure the beak is out of the membrane) and put it back in the incubator. If there are no big veins, gently tear the membrane starting near the beak. If it starts bleeding, add cornstarch and put back in the incubator. If no bleeding, continue widening the hole around the beak until the head can come through and the shoulders. Then place the chick back in the incubator and see if it can push out on its own in the next half hour.
If it hasn’t made progress in half an hour, pull it out and wet the membrane again and keep pushing it back so more of the chick can come out. Never pull the chick out of the bottom of the egg.
If you have questions, ask and feel free to post pics if you aren’t sure what you are looking at.