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.
The purpose of Zazen Meditation is to free your mind of the materialistic hold our lives have on us and once you are able to allow your thoughts to enter and quietly leave without investigation you will no longer be limited. This will provide you the quiet calm needed to see the truth of your nature and your place within yourself and the world. Your body, mind, and breath will become one.