How do the good angels help us?
The good angels help us by praying for us, by acting as messengers from God to us, and by serving as our guardian angels.
(a) The Old and the New Testament refer frequently to the work of the good angels among men. A good angel was the "rude of God's chosen people (Exodus 23:20); the protector of Tobias was a good angel (Tobias 5 ff.). The Archangel Gabriel announced the glad tidings of the Incarnation to Our Blessed Mother (Luke 1:28).
(b) Although angels are pure spirits, they can be seen by man when on special occasions God permits them to take on bodies or the appearance of bodies, which are visible to the human eye.