i presume you are comparing hydrogen and helium in gaseous state. under the same pressure and temperature, both gases exhibit the same molar volume. however, 1 mole of Helium contains 4g whereas 1mole of hydrogen gas (H2) contains 2g. Given density is mass per unit volume, we can see that 1mole of helium contains more mass than 1 mole of hydrogen gas, therefore hydrogen gas is less dense than helium.