Electrical control of quantum magnetic states is essential in spintronic science. Initial studies on the ferromagnetic state control were extended to collinear antiferromagnets and, more recently, noncollinear antiferromagnets. However, electrical control mechanisms of such exotic magnetic states remain poorly understood. Here, we report the first experimental and theoretical example of the current control of helical antiferromagnets, arising from the competition between collinear antiferromagnetic exchange and interlayer Dzyaloshinskii-Moriya interaction in new van der Waals (vdW) material Ni_1/3NbS₂. Due to the intrinsic broken inversion symmetry, an in-plane current generates spin-orbit torque that, in turn, interacts directly with the helical antiferromagnetic order. Our theoretical analyses indicate that a weak ferromagnetic order coexists due to the Dzyaloshinskii-Moriya interaction, mediating the spin-orbit torque to collectively rotate the helical antiferromagnetic order. Our Ni_1/3NbS₂ nanodevice experiments produce current-dependent resistance change consistent with the theoretical prediction. This Letter widens our understanding of the electrical control of helical antiferromagnets and promotes vdW quantum magnets as interesting material platforms for electrical control.