Dont worry about any embarrasment you may feel about not knowing her well at all..
I'll tell you that when my father died at only 42, we had hundreds of people visit from the entire neighborhood who we'd never even met. There were stacks and stacks of food which was honestly very helpful for my mother since we were all kids pretty much.
Just do it, bring something, say a few words and offer whatever you may be able to and insist she not be shy about asking. Then just do it without her asking
