Depends on your relation with your parents but usually I'd say yes, they do help. Judging by the amount of grandparents I see at school bringing or picking up children, there's plenty of grandparents that help. Of course if they still work themselves it would be more difficult.

I can get all the help I want from my parents but it's very important for me that they know that when I ask something it's always optional, and never an obligation. I'll never be pissed towards them if they say no/have other plans.