Hmmm, maybe it was me you saw? 😉
Seriously though, as someone in the same boat as that woman, I would say that you have no reason to feel guilty, but in the future, you don’t have to worry about making her uncomfortable by offering to help. When I’m feeling really weak and in need of help, I don’t care what people think of me–I would appreciate any help I can get. I’ve had people bring me in a chair in a public place, shlep my groceries, hold my baby, etc. because they could tell that I wasn’t feeling well, and I’ve only felt gratitude toward them. It never makes me uncomfortable when I’m that desperate.