In fact, помогать has not just an object in the dative case, but a frame of 2 objects: "a person" + "to do something". In most cases that frame is implemented as "dative case" + "infinitive" in Russian.

For example:
Она помогла мне приготовить обед.
Он посоветовал ей не откладывать визит к врачу.

The direct object of the main verb here is an infinitive (приготовить, не откладывать), and the indirect object is a person in the dative (мне, ей).


An infinitive can also be used as a subject, still framing with the dative:

Прийти к тебе сегодня мне невозможно. - For me to come to you today is impossible.
Мне нравится работать здесь. - I like working here. Literally: For me to work here is pleasing.
Мне было удивительно слышать это. - I was surprised to hear this. Literally: For me to hear this was surprisung.