אֵֽלּוּ דְבָרִים שֶׁאֵין לָהֶם שִׁעוּר הַפֵּאָה וְהַבִּכּוּרִים וְהָרְ֒אָיוֹן וּגְמִילוּת חֲסָדִים וְתַלְמוּד תּוֹרָה: אֵֽלּוּ דְבָרִים שֶׁאָדָם אוֹכֵל פֵּרוֹתֵיהֶם בָּעוֹלָם הַזֶּה וְהַקֶּֽרֶן קַיֶּֽמֶת לָעוֹלָם הַבָּא, וְאֵֽלּוּ הֵן כִּבּוּד אָב וָאֵם וּגְמִילוּת חֲסָדִים וְהַשְׁכָּמַת בֵּית הַמִּדְרָשׁ שַׁחֲרִית וְעַרְבִית וְהַכְנָסַת אוֹרְ֒חִים וּבִקּוּר חוֹלִים וְהַכְנָסַת כַּלָּה וּלְוָיַת הַמֵּת וְעִיּוּן תְּפִלָּה וַהֲבָאַת שָׁלוֹם בֵּין אָדָם לַחֲבֵרוֹ ובֵין אִישׁ לְאִשְׁתּוֹ וְתַלְמוּד תּוֹרָה כְּנֶֽגֶד כֻּלָּם:
These are precepts for which no fixed measure is prescribed: [leaving] the corner [of a field unharvested], [the offering of] the first fruits, the appearance-offering, [performing] deeds of kindness, and the study of Torah. These are precepts, the fruits of which man enjoys in this world, [while] the principal [reward] is preserved for him in the World-to-Come. They are honoring father and mother, [performing] deeds of kindness, early attendance in the House of Study morning and evening, providing hospitality to guests, visiting the sick, participating in making a wedding, accompanying the dead [to the grave], concentrating on the meaning of prayers, making peace between fellow men and between husband and wife— and the study of Torah is equal to them all.
Gemilas Chassidim encompasses both chesed and gemul, which are fundamentally opposites. Chesed is selfless giving without expecting anything in return, while "gemul" implies a transactional nature where repayment is anticipated, as described in Rashi's commentary on Avodah Zara 61b. However, the Mishna teaches us that true chesed involves giving in a manner that the recipient isn't even aware a kindness was extended. While you perceive it as chesed, the recipient might view it as a mutual exchange or "gemul." This type of chesed is what we should aspire to.
2.477 ועיין שו״ת תשובות והנהגות