Choose a good time to ask. You could mention it at a family gathering or when you meet with friends. Or maybe when those people see you caring for your loved one. Also, be open about your situation. The more that others understand your challenges, the more likely they’ll be to volunteer their help.
Your family and friends may simply not know how to help even if they want to. So discuss the tasks in detail, emphasize the fact that they are relatively simple and easy to do.