Would you pick up a hitchhiker ?

I have always been tempted to help when I see someone in need. But from a young age my parents told me never to do that because you can put yourself in a dangerous situation. (Obviously not all people are bad, but you don’t know)

My heart is sad when I see someone in need of help.. but I usually make no eye contact and drive by.

If you have helped a hitchhiker, any story on how it went?