She has now officially completed the longest solo journey by kayak and the longest distance in a kayak in 24 hours by a woman.
Super Skelton as she is known, has spent six challenging weeks on the Amazon River, battling on despite heat exhaustion, sea sickness, aching limbs, tarantula encounters, a sunken support boat and a splintered kayak, to reach her incredible 2,010-mile target.
The courageous kayaker reached Almeirim in Brazil at around 1350 local time, where she stepped out of her kayak for the final time in her Amazing Amazon Adventure.
Helen has maintained a grueling pace throughout the six-week challenge, kayaking an average of 60 miles of Amazonian waters every single day with only one rest day a week - making this one of the toughest physical challenges ever undertaken in aid of Sport Relief.
Helen said ''It's been a massive adventure that's thrown up challenges most days. It's been tough, but I've had enough highs to make it more than worthwhile. I'm very lucky to have amazing people in my life who've picked me up when things got hard and most importantly inspired me to carry on. My bottom is bruised, my shoulders are sore and the muscles in my neck are making it hard to differentiate between my head and my shoulders but to be honest I am proud of the war wounds. I reckon that you shouldn't shy away from things because they're tough or you might fail. Get stuck in and you never know where you might end up.''
The highs and lows of Helens Amazing Amazon Adventure will be shown in two Blue Peter special episodes, on 16th and 17th March, in the lead up to the Sport Relief Weekend.
Blue Peter hope Helens incredible efforts will inspire families across the UK to rise to their own challenge for Sport Relief, enter the Sport Relief Mile and help raise money to change lives forever.