The verb 'help' takes to-infinitives and bare infinitives but bare infinitives are said to be the most common in casual text; as also used in this example sentence.
An infinitive without a 'to' attached is called a bare infinitive.
There are two ways of using the infinitive as an adjective, 1. attributive, 2. predicative. Naturally 2. is a subject complement.
The following verbs only take the to-infinitive as their object.
'needless to say' is often introduced as an idiomatic expression in the infinitive.