What you should do is call your help form as a dialogue from the parent form:
var ayuda = new Ayuda().ShowDialog();
With this in mind (and assuming you have an action button on the help form) you must send a "result" of the dialogue, of course, setting the things you want to return as public properties:
public string Valor1 { get; set; }
public DateTime Valor2 { get; set; }
private void btnOk_Click(object sender,EventArgs e)
{
this.Valor1 = "Texto";
this.Valor2 = DateTime.Now;
// Aquí devuelves el resultado del "diálogo".
this.DialogResult = DialogResult.OK;
this.Close();
}
and finally you receive it in the parent form:
private void btnAbrirAyuda_Click(object sender,EventArgs e)
{
using(ayuda = new formularioAyuda())
{
var resultado = ayuda.ShowDialog();
if (resultado == DialogResult.OK)
{
txtFormularioPadre.Text = ayuda.Valor1;
...
...
}
}
}