The best practical thing that I know of for getting rid of guilt is Emotional Freedom Technique. It is form of accupressure while repeating certain phrases. It looks simple but don't let that fool you. This stuff works and works good. The manual and much more information is a free download of the website of Gary Craig, who invented it. www.emofree.com
You can do this on others, or do it on yourself. You can get rid of guilts, fears, angers, headaches and a bunch more stuff with this. Download the manual and learn the simple techniques and this can change you life.
You don't even have to believe in it for it to work. Just do it. You only have to believe in enough to do it. Takes only a few minutes once you learn it.