You will need a steamy place to help the chick hatch - like the bathroom.
Run warm water in the sink. Get a wash wag wet with warm warm and then QUICKLY grab the egg and wrap it in the warm wet wash rag. You are going to need to make a hole for the chick to breathe out of where it pipped. KEEP THE OPENING OPEN.... DON't Block it with the wash rag or you will suffocate the chick.
Take the egg to the bathroom and use the warm water to help break some of the shell off. At this point the chick may be too tired to get itself out of the egg. Your goal is to peel the shell off without damaging the membrane too much.
When they ZIP, they tend to zip the shell in half. Then push the two halves apart and roll out of the egg. So, you want to imitate that by picking the shell off around the middle of the egg. KEEP putting warm heat / mositure on the egg ... You don't want the membran to dry on the chick. .. . GO SLOW... GO SLOW... pick carefully so that you don't damage the chick.
At some point... you are going to get enough shell off that you will be able to decide if you need to help the chick out of the shell by removing some of the white membrane. I like to get it wet and see of the chick will start doing some of the work.
MOTHER NATURE is a wonderful thing.... MANY TIMES I have helped a chick hatch just to discover that it was deformed and that is why it was not able to hatch on its own. The chick was deformed enough, that it had to be culled after assisting it in hatching. This may be the case with the chick you are working with.
If you decide to help the chick hatch... After it is out of the shell OR mostly out of the shell... Return it to the incubator. It will need to dry and rest for another 12 to 24 hours.