Asking for help and scrounging are essentially the same thing, begging, but I use these because they have a subtle difference in the begging spectrum. Scrounging is being used here emphasising the obtaining something even at the expense of others, and can be seen as a right to those things (such as those living a lifestyle funded by benefits with no inclination to fund oneself). Whereas, asking for help is asking for no-more than what is spare and excess at any given point, which may be a beggars lifestyle but the recognition that this lifestyle is dependent on others good-will is developing the internal good quality of trust, friendliness, and reliance on the effectiveness of good actions. The Development of trust is not only trusting others, but also trusting your own strengths.
Begging is only contrary to self-sufficiency when it undermines self-reliance, which scrounging or being a social parasite does undermine, yet asking for help does not undermine self-sufficiency when it is based on trust, friendliness, and good-will.