The guide is not outside, the guide is within you. One has to go deeper into one's own being to find God and the guide. Once the inner guide is found there are no more mistakes, no repentance, no guilt.
A practitioner of Zen will tell you that everything you do should be done with a purpose, with awareness, and with intent. A Zen tea drinking meditation involves using intent and awareness in the preparation, making, and drinking of tea.