What is there to guide? It is like sitting in a train. You are going to get down when the train stops. The goal is fixed. Everybody is going to die one day. When you die you will see the other dimension as well. So don’t worry.
If you are happy and peaceful, your peace transcends this world and reaches the other shore as well. If you are full of love and devotion, a portion of it, a ray of it reaches them as well and they feel happy.
When you do some good service, that service brings merit and the merit also helps those who have passed away onto the other side.