Complications from bone marrow biopsies are rare. Soreness and grogginess and more common than anything serious.
I think there's a strong change that it will be uneventful and that your help won't be needed. But that leaves a small chance that you could help with something that comes up unexpectedly. Since it's not a big expense, and if it wouldn't be a big inconvenience, then I suggest that you go along just in case.
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