When we take care of each other, we do not only help them (quite a lot actually as you can see in the article) but we do a lot of good for ourselves.
There is a balance here to be found. Doing good for others just to feel good ourselves doesn't actually work, but giving so much of ourselves that we "burn out" doesn't help anyone either.
The good news is that you can find a healthy balance that serves both you and others. You can in fact interact with people in such a way, that it "automatically" refills you.
This requires a bit of training and knowing how to do it, and that can all be learned.
If you would like to make it easier for yourself here is a link to the first training