Electrons being fermions, the total wave function of a system of electrons must be antisymmetric for the interchange of any two electrons. As the spin triplet state of helium atom is symmetric, its spatial wave function must be antisymmetric. In this state the electrons have parallel spins so the probability for them to get close is small (Pauli's principle), and consequently the repulsive energy, which is positive, is small. Whereas for the spin singlet state the reverse is true, i.e., the probability for the two electrons to get close is larger, so is the repulsive energy. Hence the triplet state has the lower energy.
Consider the interaction between the electrons as perturbation. The perturbation Hamiltonian is
\(H' = \frac{e^2}{r_{12}}\)
where r12 = |r1 - r2|. For the singlet state, using the one-electron wave functions \(\psi_{1s}, \psi_{2s}\), we have
