We have received financial help but have always worked very hard, so I don't feel ashamed or whatnot. The help has been gifted and never asked for...in our family, you just do that for family members if in that sort of financial position. It allows us to buy some nice things, go out for dinners and to travel. We would be fine financially without it, but it makes life less stressful and more enjoyable.
I will do the same for my children, and will also teach them about saving money and working. If it helps them in any way whatsoever (even for a little bit of fun or travel), then why not!