There is no more wonderful and rewarding action in the world, than to be able to help others, without waiting, to receive something in return. In life, you have to be kind, cooperative and willing to help those who really need it, that says a lot about what we have in our hearts and how good we can be.
Many people feel anguished when they receive help, and all human beings must put aside their pride and receive the help of those who want to give it to us, because, as you mention and the Bible indicates, we must give to receive.