Help is a special verb in that way - the to is usually dropped from an infinitive when it is

modifying help. This form of infinitive is called the bare infinitive:

 The bare infinitive is used as the main verb after the dummy auxiliary
verb do, or most modal auxiliary verbs (such as will, can, or should). So, "I
will/do/can/etc. see it."
 Several common verbs of perception, including see, watch, hear, feel, and
sense take a direct object and a bare infinitive, where the bare infinitive
indicates an action taken by the main verb's direct object. So, "I
saw/watched/heard/etc. it happen." (A similar meaning can be effected by
using the present participle instead: "I saw/watched/heard/etc.
it happening." The difference is that the former implies that the entirety of
the event was perceived, while the latter implies that part of the progress of
the event was perceived.)
 Similarly with several common verbs of permission or causation,
including make, bid, let, and have. So, "I made/bade/let/had him do it."
(However, make takes a to-infinitive in the passive voice: "I was made to
do it.")
 After the had better expression. So, "You had better leave now."
 With the verb help. So, "He helped them find it." (The use of the to-
infinitive with the verb help is also common.)
 With the word why. So, "Why reveal it?" (Use of the to-infinitive following
why is also common.)
 The bare infinitive is the dictionary form of a verb, and is generally the
form of a verb that receives a definition; however, the definition itself
generally uses a to-infinitive. So, "The word 'amble' means 'to walk slowly.'"
 The bare infinitive form coincides with the present subjunctive form as
well as the imperative form, but most grammarians do not consider uses of
the present subjunctive or imperative to be uses of the bare infinitive.