English language is originated from West Germanic language. It is the reason why we found some German vocabularies similar to those in English. Then, many foreign words were borrowed from French. In recent decades, many English terms are imported by German. We can see these European languages enrich each other.
The verb 'helfen' is Help in English. 'Help' comes from 'helpan' in Old English which comes from 'khelpanan' in Proto-Germanic and 'kelp' in Proto-Indo-European language.
The 'have' comes from 'habban' in Old English, 'habba' in Old Frisian, 'haben' in German, 'haban' in Gothic, 'khaf-' in Proto-Germanic and 'kap-' in Proto-Indo-European language.