A few quotes from the Rabbi on 'Tzedakah and Healing'
in which he instructs to take in the poor person into one's home and to sit to eat with him at the same table
Just as a guest is always bashful in relation to the host who, with his wife, goes to the trouble of serving him, so should a person be bashful in relation to God - who bestows his goodness upon him, whose compassion overcomes Him, and who provides him with his daily sustenance – and not leave a hungry person until he has provided him with sustenance and bread. This also suggests to us that when homeowner hosts a guest in his home he must receive him in joy and enthusiasm, and sit to eat with him at the same table as his children and household. As the Tannah [Mishnaic teacher] says, 'Let the poor be part of your household'; having him eat at his doorstep is so very foolish and shaming, certainly if he does not sit with him.
Holech Tamim VePo'el Tzedek, p. 44. Printed in Jerusalem, 1978