Sometimes. If the sentence is two independent clauses then they would need either a period or a semicolon. A comma would be used if you had an independent and dependent clause.
Answer:
People fight wars to protect their country, families, and beliefs.
Explanation:
Which book or excerpt is this from?
Answer:
Yes, they should.
Explanation:
It teaches students the importance of helping others, even if you don't expect something in return.