It is well known that marginalized communities of color, particularly young Black men, are more likely to experience police-initiated contact that other groups. Research suggests that these events contribute to legal cynicism, or the belief that the law and its agencies are ineffective, unwilling to help, and untrustworthy. In turn, cynical orientations limit one’s willingness to call the police to help. However, recent work on marginalized women suggests that despite holding cynical attitudes towards the police, their immediate needs for safety and services supersede these beliefs. The current study examines the racialized and gendered linkages between police-initiated contact and help-seeking outcomes (reporting crime, calling for an emergency, and seeking help from police for non-emergencies). Using data from the Police Public Contact Survey (from the Police Public Contact Survey–2020) results indicate that Black and Hispanic participants were less likely than White participants to seek help. However, Black and Hispanic women were more likely than their male counterparts for calls for help regarding a crime or disturbance. Across all outcomes, police-initiated contact was associated with higher rates of help-seeking. Perceived illegitimacy of street stops reduced the odds of reporting crimes to the police. However, perceived traffic stop illegitimacy was not related to help-seeking. Police initiated contacts and perceptions of legitimacy did not moderate the relationships between demographic variables and help-seeking outcomes. Implications for theories on legal socialization and the impact of police-initiated contacts on help-seeking are discussed.