If you are walking on soft earth, the best way is to walk barefoot, no shoes. You have a tremendous contact with the earth. We belong to the earth! Half of us is part of the earth and half is part of the sky. And when you are walking in the early morning sun on the wet earth, you are enjoying both the sky and the earth. It was perfectly right!
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.
In layman's term, Zen meditation is letting go of pessimistic thoughts and simply relaxing. In Buddhism, it is a contemplative discipline performed to achieve calmness in the mind and body. Most importantly, it aims for a practitioner to understand the nature of life to obtain enlightenment. To fully experience positive results of Zen meditation, there are three general methods to consider such as Concentration; Koan Introspection; and Shikantaza.