"Powinienem pomóc mojej babci ugotować obiad."
Translation:I should help my grandmother cook lunch.
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Being able to understand long sentences like this without any trouble feels great!
"To" is not required in my variant of British English, although it's not wrong to use it. In any case, having "to" in your answer is accepted.
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Is this correct? I would use "pomoć" if I mean this one time, but "pomagać" if I mean repeatedly?
Actually, although more than 99% of infinitives end with -ć, "pomóc" is among this small fraction that ends with -c, so one needs to pay attention here ;)
Other than that, you are right. "pomóc" in some specific matter; "pomagać" in general, repeatedly.
babcia, babunia informal My granny used to sing that song to me when I was little
I think "powinienem" can also be past tense? "I should have helped my grandmother to cook lunch"?
Well according to https://en.wiktionary.org/wiki/powinienem, "powinienem" (no infinitive form) is already in the past tense form.
The further tense back in time is the pluperfect which would be: powinienem był / powinnam była.
I strongly recommend using pluperfect when applicable, but technically "powinienem" itself can have the "I should have helped" meaning. I just added this.
Actually, it's Dative rather than Genitive. Think of "pomóc" as "to give help to". To see more, take a look at: https://en.wiktionary.org/wiki/pom%C3%B3c#Verb
In this sentence, in English, "to" would be optional, and I would expect that you could answer either with "to" or without "to".