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.
Each of us has an inner child or a true self. This inner child is molded according to our childhood experiences. Happy childhoods produce an inner child who is contented and at peace while abusive childhoods create a lost and wounded one.