Escherichia coli bacteria use rotating helical flagella to swim. At this scale, viscous effects dominate inertia, and there are significant hydrodynamic interactions between nearby helices. These interactions cause the flagella to bundle during the “runs” of bacterial chemotaxis. Here we use slender-body theory to solve for the flow fields generated by rigid helices rotated by stationary motors. We determine how the hydrodynamic forces and torques depend on phase and phase difference, show that rigid helices driven at constant torque do not synchronize, and solve for the flows. We also use symmetry arguments based on kinematic reversibility to show that for two rigid helices rotating with zero phase difference, there is no time-averaged attractive or repulsive force between the helices.