Let them hold onto your shoulder or elbow when walking, put their hand on a chair's backrest if you are showing them somewhere to sit down. If they're using a cane there's usually no need to warn about irregularities on the floor, but it might be necessary if they don't use one (stairs, steps, curbs).

Definitely do not grab their arm and drag them around (I'm a blind girl and I had men taller and stronger than me doing this more than once and it is fucking scary).

I would assume that if the person had a white cane that they have had previous O&M training and have been taught how to solicit assistance/teach human guide ( holding onto the guides shoulder or elbow) But what you did was 100% A- Ok but you would never want to just grab them and again assume that they need help. But we all know what assuming means.
Also, some travelers may not want human guide but directions to their desired destinations. I hate using this term but it’s what I’ve learned from my O&M program, “it depends.”

Sounds good to me. Thank you for noticing and offering. For future ask how they want to be guided, I ask for a guide to allow me to rest my hand on their elbow.

You probably did just fine.

Pretty sure you did just fine.

Don't grab them, it's fucking scary.

Try not grabbing them instead let them grab you

Scent of a woman : https://youtu.be/gRnzkvU4nFA

a) Those sticks are called canes.

b) There's a specific technique called Sighted Guide, where the man would hold your elbow but from what it sounds like you directed him well.

I am sure he was grateful for any assistance, normally I am fine and I wait to find people and ask them for help unless god forbid I accidentally walk into the street.

I think you did OK, but without knowing all the circumstances, it's hard to say for sure. One thing I would strongly recommend is to not just up and grab someone. I've heard of this happening to others, it hasn't happened to me though. My first instinct would be to throw them on the ground or in some other way, incapacitate them, because I wouldn't be thinking, oh here's someone to help me, I would think I'm being attacked and my survival instincts would kick in. Then I'd feel like shit for punching or throwing someone who only wanted to help, then I'd be pissed that I had to feel like shit because they should have just asked first 🤦‍♂️. So yeah I guess if they seem really zoned out, tap them on the shoulder to get their attention, but that's as far as I would go before you have talked to them about it. Also, when we're standing at the corner, at a traffic light or something, we're generally listening ahead, not behind, because we're trying to pick the right moment to go, using our orientation and mobility training. That means we might not notice someone coming up on us, or may notice, but ignore that, because it's probably just someone else looking to cross. So, if that person just comes up and grabs one of us, yeah that's gonna tend to scare the shit out of us.

Letting someone hold on to your elbow is the correct way to guide a blind or low vision person.