What are the best ways to help my baby while he is teething?

Loving support. Provide loving support for your baby while teething. Treat the symptoms and keep your baby as comfortable as possible. Remind yourself that you most likely went through the same process and made it through.
Cold things. Have him suck on cold or frozen things. For example the frozen half of a bagel is excellent to chew on. Pain relief with tylenol (acetaminophen) or Ibuprofen also works well.
Let them chew. Chewing on something cold and firm is helpful. One idea is to give them a damp washcloth that as been frozen in the freezer to chew on. Commercial teeth rings that can be frozen are available as well. Teething is a normal process. I would avoid medication like painkillers unless absolutely necessary. Most babies really don't need them.