The greatest welfare work is to guide and lead a person on the path to eternal life and that is preaching Krishna Consciousness to all.
Good association means association with one who simply accepts the Krishna as his worshipable deity.
Krishna tells in Bhagavad Gita, "Ananyas Cintayanto Mam Ye Janah Paryupasate" that if we just approach him with sincerity, then He will carry what we lack and preserve what we have". Just put your sincere and honest efforts to please Krishna then all your hearts, desires for the welfare of others can be fulfilled.
The Ultimate expression of Humility comes when we control our senses.