A person in distress may not be able to think about what needs to be done, and is even less likely to be able to be assertive enough to ask for assistance. The tradition of bringing in food is a good one. When trouble comes, though, nearly all families are grateful for the food brought in, perhaps more for the symbolic gesture than the actual value. As you think about the practical needs of your hurting friend or family member, be aware that simply getting through the day with the most basic of personal and home maintenance may be all that can be accomplished. If it's not too intrusive and it needs to be done, just do it.
Close friends can enter one's home and assume maintenance responsibilities.
More distant friends and acquaintances will need to explain specifically what they would like to do, and ask permission. However, no one should do more than the basics. Rearranging furniture and cleaning closets and drawers are too intrusive, and are resented.