The Help action is described in Chapter 9 of the PHB (emphasis mine):
You can lend your aid to another creature in the completion of a task. When you take the Help action, the creature you aid gains advantage on the next ability check it makes to perform the task you are helping with, provided that it makes the check before the start of your next turn.
Alternatively, you can aid a friendly creature in attacking a creature within 5 feet of you. You feint, distract the target, or in some other way team up to make your ally's attack more effective. If your ally attacks the target before your next turn, the first attack roll is made with advantage.
At first blush, one might assume that these rules for the Help action are self-contained and everything needed to adjudicate the action can be found within the section.
However, Chapter 7 contains he rules for "Working Together" (emphasis mine):
Sometimes two or more characters team up to attempt a task. The character who's leading the effort--or the one with the highest ability modifier--can make an ability check with advantage, reflecting the help provided by the other characters. In combat, this requires the Help action.
A character can only provide help if the task is one that he or she could attempt alone. For example, trying to open a lock requires proficiency with thieves' tools, so a character who lacks that proficiency can't help another character in that task.
Moreover, a character can help only when two or more individuals working together would actually be productive. Some tasks, such as threading a needle, are no easier with help.
I am not sure how to understand the "In combat, this requires the Help action" from Working Together and the "Alternately" from Help. Is it that:
(a) What would normally be considered Working Together is, in combat, considered the Help Action instead; only the rules for Help, not Working Together, apply in that case.
(b) What would normally be considered Working Together is, in combat, considered the Help Action in addition; the rules for Help and those of Working Together apply in that case. In particular, in combat, you can Help someone only with an ability check you would be able to attempt alone, and you can Help someone attack a creature only if you would be able to attack that creature alone.
(c) As (b) for ability checks only, but alternatively when you are aiding a friendly creature in attacking another creature, the rules in Working Together are superseded. Lending aid in combat for ability checks follows the rules for Working Together, but lending aid to another creature specifically to attack a creature is an exception such that only the second paragraph in Help applies.
For example, consider a wizard with proficiency in thieves' tools and a familiar.
Can the familiar assist (give advantage to) the wizard in picking a lock? Outside of combat, no - the rules for Working Together require that the helper be able to perform the action alone. If, however, the attempt to pick the lock happened within combat, then under scenario (a) the familiar would now be able to assist while under (b) they still would not.
Can the familiar assist (give advantage to) the wizard in attacking a creature? If the wizard is attacking, by definition they are in combat. In this case the familiar could assist in scenarios (a) and (c), but not in scenario (b), since it is itself incapable of attacking.
As @Dale M notes, the consensus on this site is certainly that familiars can perform the Help action when their wizard attacks. However, this highly upvoted answer does not even mention the Help action's relationship to Working Together, and instead relies on a JC tweet for justification (to be fair, the answer is from August of 2016). I am interested in an answer that specifically explores the relationship between Help and Working Together, and if possible relies on RAW without JC tweets.