self-help (n.)

word forming element indicating "oneself," also "automatic," from Old English use of self (pron.) in compounds, such as selfbana "suicide," selflice "self-love, pride, vanity, egotism," selfwill "free will." Middle English had self-witte "one's own knowledge and intelligence" (early 15c.).

OED counts 13 such compounds in Old English. Middle English Compendium lists four, counting the self-will group as a whole. It re-emerges as a living word-forming element mid-16c., "probably to a great extent by imitation or reminiscence of Greek compounds in (auto-)," and formed a great many words in the pamphlet disputes of the 17c.

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).