Hi Gregory,
Yes, using the handbrake while stopped on an incline is hugely beneficial. Just before moving off, when you time it just right, it allows you to bring the clutch up, while simultaneously pressing the gas pedal, while releasing the handbrake. When all completed in one single movement, it means you can move off smoothly without fear of rolling the car backwards.

I frequently use the handbrake when I am stopped on a steep incline or waiting to turn right off an incline. Is it beneficial to keep using the handbrake?

Hello Mbome,
Depends what you want to do. If you’re moving ahead slowly, in say a traffic queue, then you will keep the accelerator steady. If you’re moving off with the intention of gaining much more speed, you will increase the amount of pressure on the accelerator.