Duncan had no intention of seeking her help from the start, but he was rather desperate to get inside the Palace, as he had a time limitation for being around too many people. Not to mention but the gifts in his chamber were more significant than the ones his guard had brought down, and he needed to hand them over which is why he was compelled to ask the lady servant for some assistance.
Howbeit, she didn't give off the energy of someone who found his presence repulsive. When he held the umbrella's handle to further adjust it above his head, she hardly hesitated or moved her hand away, as if she wasn't afraid of catching his 'rumored' contagious illness due to the close contact. It gave him a weird feeling in his chest, no one except those he considered close could stay within this proximity around him.
