A two-dimensional time-reversal symmetric topological superconductor is a fully gapped system possessing a helical Majorana mode on the edges. This helical Majorana edge mode (HMEM), which is a Kramers pair of two chiral Majorana edge modes in the opposite propagating directions, is robust under time-reversal symmetry protection. We propose a feasible setup and accessible measurement to provide the preliminary step of the HMEM realization by studying superconducting antiferromagnetic quantum spin Hall insulators. Since this antiferromagnetic topological insulator hosts a helical electron edge mode and preserves effective time-reversal symmetry, which is the combination of time-reversal symmetry and crystalline symmetry, the proximity effect of the conventional s-wave superconducting pairing can directly induce a single HMEM. We further show the HMEM leads to the observation of an e(2)/h conductance, and this quantized conductance survives even in the presence of small symmetry-breaking disorders.