If you can overcome the underlying negative reasons as to why you won't seek help, coupled with having a better understanding of your unrealistic thought patterns, it is possible to start finding pathways to letting others help you. Some of the things you might consider doing include:
Learn to accept offers of help. Recognise that people are acting in good faith in general. If another person is being kind in offering help, accepting it at face value is the first step.
The next time the thought crosses your mind that you could do with help sorting out a problem, carrying a heavy box, making dinner, working out a work dilemma, etc., act on it. Decide on who you will ask, phrase the request in your head, and go and ask for help.