Offering help in a kind and empathetic way can go a long way toward making someone feel comfortable accepting it. It is important to approach the situation with an open mind and a genuine desire to help. Try to understand their needs and limitations, and offer concrete ways to help them. You can also ask their opinion on how best to help them. Remember to be patient and understanding if they decline your offer, and always respect their decision. Ultimately, kindness and compassion can make all the difference in offering help to others.