Try hard not to help before 24 hours has elapsed as you run a risk of the chick having issues later on. Time and time again we hear of chicks that were assisted have hip/leg/feet issues. In all my hatching, I have helped two after 24 hours. One died after three days, the other was perfect...
I would leave them alone. They can take up to 24 hours to totally break out of the egg start to finish. They have air in there from the air sac and have a sharp beak to break the membrane.
I know it's hard, but you need to walk away and just let them do their thing. I have a hard time too...