No one has achieved greater success without help of others. by one or another way, everyone of us are indebted of help of someone closer to us (friends or family). if that is so, as you said fear/egotism is one of the the reason why people afraid of asking others for help.
additionally, I believe in order to receive from others you need to build positive and cooperative interaction. people mostly see or consider your previous track records to support you. if you are a kind of person who don't feel the pain of others, on one can even listen your deep shit. remember what goes round is comes round. therefore, give to others to receive when you are in demand. give your time, give your money, give your ideal. give what you have as much as you can. don't be receiving conscious rather programmed yourself as giving concious. the more you give the more you will receive.
As a principle assist others, you will get more people by your side when help is needed.

Thanks bro