[subject] + 互相 + [verb phrase]
互相 means "each other". It is an adverb, so it goes before the verb, and the subject has to be plural – two people, or a group.
In English "each other" is the object. In Chinese 互相 already says who does what to whom, so the slot after the verb stays empty of any "each other" word.
The verb can still take an ordinary object: 互相学习汉语 is fine, because 汉语 is what is learnt, not who.
互相 sits best with a two-syllable verb: 帮助, 学习, 关心, 了解, 认识. A one-syllable verb usually takes something after it – 了, a reduplication or an object – rather than standing bare.
不 goes after 互相.
彼此 also means "each other" and is more written; it can stand as a noun (彼此的), which 互相 can't.