Guidance is the way that a leader or mentor provides assistance to another person to help her reach her goals.
Guidance is more general in nature than specific directions. The goal is to help a person make a good decision on her own, not to tell her what to do.
In Lean, using guidance rather than detailed directions is important. Lean thrives when leaders are able to give their team a goal, and let them work on their own to achieve it. The more reliant a team is on the leader, the more the leader becomes a bottleneck for progress.