Usually our spirit guides have already contacted us, but we're not always aware of it.
One way to consciously seek them out is through meditation and visualization. You would start out by asking out loud to please have your guides come to you. Get into a meditative state and either focus on your intent of meeting your guides and see what pops into your head, or go to your sacred visual space and wait for them there.
It can take a few tries, but never doubt that they will make sure you know they are there when you're ready.