We report the nucleation and two dimensional (2D) crystallization of the helical aromatic hydrocarbon pentahelicene ([5]H) on the semimetallic Bi(111) surface studied via low-temperature scanning tunneling microscopy. Individual homochiral dimers and heterochiral trimers appear on the substrate at a low coverage. With an increase in the coverage, a chiral phase transition takes place from the 2D conglomerate of [5]H dimers to the 2D racemate of [5]H trimers. The heterochiral [5]H trimers reveal a wavy arrangement due to the swing of 5[H] trimer rows after every second or third trimers. The swing mechanism of the trimer rows can be attributed to the steric repulsion between the adjacent trimers with same handedness.