is this sentence correct grammar?
you want me to come there help you.
What's the question? Is it whether you "come" there or "go" there?
If A say to B, "Please come here and help me," and B complies, did he "come there?"
You could look at it from either person's perspective. so I don't see any real difference. It's hard to say that one perspective is "right" and the other is "wrong."