self-help (n.)

Old English help (m.), helpe (f.) "assistance, succor," from Proto-Germanic *helpo (source also of Old Norse hjalp, Swedish hjälp, Old Frisian helpe, Dutch hulp, Old High German helfa, German Hilfe), from the source of help (v.).

The use of help as euphemism for "servant" is American English, 1640s (originally in New England). Bartlett (1848) describes it as "The common name in New England for servants, and for the operatives in a cotton or woollen factory." Most early 19c. English writers travelling in America seem to have taken a turn at explaining this to the home folks.  

A domestic servant of American birth, and without negro blood in his or her veins ... is not a servant, but a 'help.' 'Help wanted,' is the common heading of advertisements in the North, when servants are required. [Chas. Mackay, "Life and Liberty in America," 1859].

But help also meant "assistant, helper, supporter" in Middle English (c. 1200).