This video of unknown provenance shows a tortoise who has flipped over on his back. He's helpless until another tortoise rescues him by pushing him over.
My guess is that it's not necessarily friendly. It looks like once the helper tortoise is done, he takes a little nip or two at the other's scutes and follows closely (pretty classic breeding behavior). Tortoises are capable of learning but I doubt if that was intentionally helpful.
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(Keeper of more than 40 tortoises)