When Laura was a baby, changing diapers was a dilemma. I had people assist me but did feel bad that I was unable to complete the task. As soon as Laura could fit comfortably in Pull Ups, I started buying them.
I could easily get pull ups off and on her. She could help me and increased her independence. Wiping Laura wasn't always easy. She often thought that I was too rough. I managed to do it though.