Korean · Pronunciation Guide
pi-ryo-ha-da. The ㄹ of 필 jumps across into 요, so the written 필-요 comes out as pi-ryo with the r opening the second syllable.
piryohada
Four even beats. The interesting timing point is that the syllable boundaries you speak do not match the blocks you read: 필요 is written as a closed block followed by an open one and pronounced as pi-ryo, with the consonant crossing the line.
Listen: 필요하다
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도움이 필요해요.
Doumi piryohaeyo.
I need help.
Listen: 도움이 필요해요.
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도움이 필요해요 stacks two resyllabifications back to back. 도움 passes its ㅁ to the particle, giving do-u-mi, and then 필요해요 performs its own shift to give pi-ryo-hae-yo -- so the whole sentence is a chain of consonants sliding rightward.
Reading it as 'pil-yo' with a held l and a fresh y-onset is the beginner's version, and it breaks the flow Korean expects. Let the ㄹ tap into the glide. The other thing to fix is the ㅍ, which needs genuine aspiration; softening it produces 빌요 and loses the word's opening consonant entirely.