Blessing to thank HaShem for the commandment and opportunity to practice tikkun olam

Shalom aleichem, r/Judaism.

Is there a blessing (preferably in Hebrew) that I can/should say to give thanks to HaShem for the commandment and opportunity to practice tikkun ola

For context (and the throwaway account is because of the context, because I don’t want anyone to think I’m bragging or advertising being a good Jew, which I don’t know that I am, or anything like that; I just want advise about how to best thank HaShem for having sanctified us in this particular situation), tonight I was walking home and I overheard two people say something along the lines of “He’s still there. I feel bad, but what can we really do.” I live in a city and so I immediately assumed they were talking about someone who seemed potentially dangerous and crossed the street to avoid them myself. After walking about half a block, I noticed who they were talking about–it was a homeless looking man who was having a huge amount of trouble walking, likely because he had had some large amount of some drug. As I was looking at him across the street, he fell onto the ground and started writhing around and spasming. I thought to myself, “Wow, I’m glad I’m not him” and turned to continue walking home.

Then, for some reason, I became overwhelmed with the sensation, “No. This is not how HaShem wants me to behave. I am commanded to help this person and I need to figure out how to do it.” I’m not trying to say anyone has any responsibility or help anyone in any specific way in the general case–or that that isn’t the case–just that in this situation I felt overwhelmed and knew that I had to do something. While I was trying to figure out what to do, the person stopped twitching. I was afraid to help them because I know how things like this can end up going, but I knew that I had to make sure they were okay, so I ran across the street and started yelling to them, “Are you alright? Do you need help? Should I call for help? Move your hand if you don’t need help, but if you don’t move your hand I’m going to assume that you need help.”

This went one for a minute or two. I could tell he was breathing, but it seemed labored, and I was nervous that he was going to have to call 911, but then, suddenly, with no warning at all, the man sat up, turned and looked at me, and said, “Thank you, thank you, I am okay, I am okay. But could you help me up?” So I reached out and gave him a hand up and told him that everything was alright and I just wanted to make sure he was okay. So he gave me a hug and said that he was and thanked me, and then walked away.

As soon as I walked away from the situation, all I could think in my head was thank you HaShem, than you G-d, thank you, for so many things. I wanted to pray in Hebrew but my Hebrew is not so good (I was born Jewish but only in the past couple of years have become increasingly more observant) and I didn’t know what to say exactly. Most of all, I felt thankful that HaShem has sanctioned with the commandment to perform mitzvot and repair this world. Does anyone here have any thoughts about an appropriate blessing for this type of situation (or any other thoughts in general)?