It all comes down to a matter of choice.
Do I want to take the blessings of my life—the gifts that God has given me, the skills, and talents, and interests, and even my tangible gifts—and hoard them for myself, or use them to help others?
In this parable about the final judgement, the Lord sees people as roughly falling into one of two camps: those who helped others, and those who did not. The former are welcomed into the kingdom prepared by the Father where they enjoy eternal life, while the latter are sent to eternal fire and punishment.
Which would you choose? It’s really a simple matter of choice—to use what God has given you to bless others, or to turn a blind eye to the real needs resulting from human suffering.
I don’t do it every time I see someone in need, but I have walked out of a store having seen a homeless person as I walked in, and on my way out, handed them some cash. I’ve walked out of a coffee shop with my own coffee and a cup for the obviously homeless person sitting out front.
My good friend Anne—now in that kingdom and enjoying eternal life—used to keep “blessing bags” in her car—gallon zip-locks filled with simple necessities of life, that she would freely give to the people she saw in need. She chose to see these people, and respond to their need.