<p>This study aims to find a semi-analytical solution to the three-dimensional bending of a circular cross section beam into a regular helix. As though analytical methods exist in literature for in-plane finite bending, few were presented in the case of an out-of-plane, three-dimensional beam. After solving a spring under tip moment problem, a simple incremental method using Castigliano’s second theorem is formulated. The results are then compared with finite elements method (FEM) results, which will serve as reference. The effects of the input parameters such as the number of increments, winding angle and number of revolutions, and their impact on the result are also analyzed. The method’s results show good agreement with those found using FEM in terms of displacement under end moment load, and internal stress components. It is found that the method converges to the helical solution by the use of smaller increments. To bend the initially straight beam into one with multiple revolutions or coils, a higher number of increments are necessary to obtain a more accurate result, as the bending load is naturally larger. The case of beams with rectangular cross section is discussed at the end.</p>