It may be. Helping verbs are also called auxiliary verbs. BE HAVE etc. ... The are used to "help" main verbs, also called "notional verbs. The two kinds are complementary, but not necessarily exclusive. The phrases "she workS" and "he workED" have no auxiliary, but only a notional (main) verb. These carry the ending for tense (present or past). When auxiliaries are used, the first one carries the tense, and following verbs auxiliary and notional do not. For example:
He haS seen ; ... iS seen; haD seen; haS been seen; haD been seen...;
he haD been being careless..
"Who DOES/ DID the dishes": here DO is main verb, but in "How do you do?" the first DO is helping verb; the second is main verb.