is this sentence correct grammar ?(you want me to come there help you.)

It is not correct.

please , tell me correct grammar.

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."

User, needstabe "to help" or "and help"
Or even "there, help."

Right, Dale. I didn't even notice that the "to" wasn't there. I just filled it in for myself, without reading closely.

Clearly Lay your vocabulary is more exhaustive than mine