The Big Bang Theory Season 3 Episode 8 : The Adhesive Duck Deficiency
Sheldon investigates cries for help from across the hall: Penny has slipped in the shower and dislocated her shoulder. Sheldon is enlisted to get her to an emergency department. Penny is neither dressed (yet) nor can she drive her car. Sheldon has to help Penny get dressed with his eyes closed. He has yet to drive a real car and his driving simulator experience was a disaster. The trip to the hospital is slow and Sheldon pushes Penny's rage closer and closer to the brink but they get there fine and, by the end of the episode, Penny (under the influence of strong analgesics) is rather happy with Sheldon's help. She gets him to sing Soft Kitty with her.