And the answer is yes, absolutely. I am not at all proud about accepting help. It may not be that the help you offer is workable for one reason or another, but I will not be at all upset that you offered, and I will not turn whatever offer down out of the sheer desire to avoid accepting help.
What I am not good at is soliciting help from scratch. "You know what would be fun? If you came and got me and then [actual fun thing here]," or, "If you rode the bus down and came over and then [actual fun thing here]," is very hard for me. It sounds to me like, "You know what would be fun? If you baked me a pan of brownies. Wouldn't that be awesome? You could go to the store, and buy the ingredients, and do all the work, and then I would have brownies. Doesn't that sound like fun?" Yes, I know I've baked people brownies before and will likely do it again. And in fact I do like baking brownies. But, "How about I make you a pan of brownies?" is very different from, "How about you make me a pan of brownies?"