pictures would help a LOT. But if you've picked open the shell and through the white membrane, and you see a second white membrane instead of a transparent one wrapped around the baby, then yes you may need to help a bit more. Be absolutely sure that you don't see any blood vessels before you start. Opening one too early usually results in death.
Working in a very warm place with a warm moist towel handy, open up the hole a little so you can see the beak. You should not see any blood vessels here; by the time it's pipped, they should be down around shoulder level. Pick the shell and membrane around the egg just as the baby would, stopping if you see any blood vessels. If you see blood vessels, moisten the membrane with warm water (I like a light vegetable oil, like canola) to keep it moist and flexible. Then put the baby back in and let it try to hatch on its own when it's ready. The fight is good for it.
If you don't see blood vessels, and if the membrane is tightly wrapped and dry looking, moisten the membrane and peel it back gently, moistening as you go to help loosen it from the down. Avoid peeling the shell of the baby like a hard boiled egg, you can't reverse easily if you go too far and hit a bleeder. Don't let the little one chill, and once you get it loosened up from any sticky membrane, put it back in the incubator and let it try to hatch.