Squirrel accidentally entered my house and can’t find her way out ....how can I help?

There’s a squirrel family living outside one of my windows for the last 1–2 years. Today one of them suddenly came inside the house and now she seems unable to find her way back out or climb properly.

She gets really scared and jumps whenever we go near her. We’ve tried giving her space and keeping windows open, but she still seems confused.

What’s the safest way to help her get back outside without stressing her out more?