Nothing wrong with having guilt, if you can observe it and understand what it is in the moment that you feel it, and not be caught up in it and a victim to one's emotions. I see the challenge as wanting to do what you think is necessary, but also being free from ambition. Stay light on your feet. Wanting to be a good/better person, it's only desire like all the other misleading things that pull humans and focus attention away from their now. Freedom is everything, and from it springs the good things that one can have and provide, to our children as well.
There is an old zen story about when the monastery abbot was looking for a successor, he had become very elderly. He posed a question to all the disciples, something along the lines of how do we think of ourselves. The student that everyone thought would get the job, said, "Always wipe the dust clean from the mirror in your mind". A good answer, but not the one the abbot was looking for. The person that did end up getting the job was a lowly kitchen boy, though he was not even considered, who said, "To have no mirror in your mind for dust to settle upon".