。
She always gladly extended a helping hand to anyone in trouble.
Literal
She [topic-は] are-troubled person [to-に] anytime gladly help [genitive-の] hand [object-を] extended.
喜んで ('gladly, with pleasure') comes from the te-form of 喜ぶ ('rejoice'), used adverbially for an act done with positive emotion — the standard Japanese way to say 'gladly' in formal writing, more conversational than the literary 快く. 援助の手を差し伸べる ('extend a helping hand') closely parallels the English idiom; 差し伸べる is itself a compound verb (差す 'reach out' + 伸べる 'extend'), an elevated word with a graceful, deliberate feel. 人 ('person') is the bare singular; the closely related 人々 ('people, individuals') doubles the kanji using the iteration mark 々 (踊り字, 'dancing character'), a productive pluralization device that also gives 山々 ('mountains'), 国々 ('countries'), and 神々 ('gods').