Most people connect with their spirit guides/guardians through meditation or dreams (in most cases you have to ask for a sign before falling asleep if you want to connect through dreams). But there are other ways to interact with them such as pendulums, tarot cards, rituals, runes, etc.
As follower of the path since 16 years of age I discovered guides or at the least first will find you in a time of need. I discovered my first at about 18 sitting next to me in a subway whilst I waited for a train. he was wearing monks robes which I couldn't recognize as being from a recognizable order. He got on the same train , no one sat near us at the subway or train in rush hour.
I got off at my stop alone, but was able to communicate through tarot cards with some practice. Familiars or animal guides join us for the same reason. Cast out your mind as far away as possible and feel about with your third eye or pineal gland (located in the brain) send a message to the spirit realm with full and honest intent saying you seek a trustworthy soul(guide ) to help you. When the guides work is done they may leave but with practice new guides will enter you life when u need them