Is feeling sexual urges when helping one's mother normal or forbidden, and what is the solution?

You must push away this feeling, avoid what leads to it, and seek refuge with Allah from Satan, for he wants to mislead you. As for what occurs in the heart unintentionally, there is no accountability for it as long as it does not become settled, based on the Prophet's (peace be upon him) saying: "Indeed, Allah has overlooked for my Ummah what they whisper to themselves, as long as they do not speak of it or act upon it."

Judge Abu Bakr mentioned that whoever resolves to commit a sin and settles his mind upon it, incurs sin for his belief and resolution. This is the view held by most of the Salaf and scholars.