Giving is the half most people find easy. Someone offers to carry your bag up the stairs and you hear yourself say you're fine before you have checked whether you are.
Receiving asks you to be visibly in need of something, which is a harder posture to hold — particularly for anyone who has been the reliable one since they were about eleven.
Let one thing through this week. Accept the lift. Say yes to the meal. The other person almost always wanted to, and refusing keeps the traffic running in one direction only.