First to use the I-pilot Link with a Helix unit you need a "G2N" version of the Helix.
The track following on the Minn Kota is a separate function and are separate from the HB track following.
The Minn Kota will follow Minn Kota recorded tracks and are stored in the Minn Kota trolling motor head, but not HB tracks.
The HB follow tracks are a function that are part of the Lake Master mapping SD card. So you will need some type of Lake Master SD card (map or Zero Line) in you Helix head unit to work in conjunction with your imported tracks.
Once you have all the correct pieces, it is simpler than it sounds.