Steady axially invariant (fully developed) incompressible laminar flow of a Newtonian fluid in helical pipes of constant circular cross-section with arbitrary pitch and arbitrary radius of coil is studied. A loose-coiling analysis leads to two dominant parameters, namely Dean number, Dn = Reλ½, and Germano number, Gn = Reη, where Re is the Reynolds number, λ is the normalized curvature ratio and η is the normalized torsion. The Germano number is embedded in the body-centred azimuthal velocity which appears as a group in the governing equations. When studying Gn effects on the helical flow in terms of the secondary flow pattern or the secondary flow structure viewed in the generic (non-orthogonal) coordinate system of large Dn, a third dimensionless group emerges, γ = η/(λDn)½. For Dn < 20, the group γ* = Gn Dn-2 = η/(λRe) takes the place of γ. Numerical simulations with the full Navier-Stokes equations confirmed the theoretical findings. It is revealed that the effect of torsion on the helical flow can be neglected when γ [less-than-or-equal] 0.01 for moderate Dn. The critical value for which the secondary flow pattern changes from two vortices to one vortex is γ* > 0.039 for Dn < 20 and γ > 0.2 for Dn [greater-than-or-equal] 20. For flows with fixed high Dean number and A, increasing the torsion has the effect of changing the relative position of the secondary flow vortices and the eventual formation of a flow having a Poiseuille-type axial velocity with a superimposed swirling flow. In the orthogonal coordinate system, however, the secondary flow generally has two vortices with sources and sinks. In the small-γ limit or when Dn is very small, the secondary flow is of the usual two-vortex type when viewed in the orthogonal coordinate system. In the large-γ limit, the appearance of the secondary flow in the orthogonal coordinate system is also two-vortex like but its orientation is inclined towards the upper wall. The flow friction factor is correlated to account for Dn, A and γ effects for Dn [less-than-or-equal] 5000 and γ < 0.1.