We derive the quasiclassical equations that describe two-dimensional superconductors with a large Rashba spin-orbit coupling and in the presence of impurities. These equations account for the helical phase induced by an in-plane magnetic field, with a superconducting order parameter that is spatially modulated along a direction perpendicular to the field. We also derive the generalized Ginzburg-Landau functional, which includes a linear-in-gradient term corresponding to the helical phase. This theory paves the way for studies of the proximity effect in two-dimensional electron gases with large spin-orbit coupling.