Guilt is a powerful hindrance. Don't let it consume you which I'm sure you won't. And I say this because of your past up bringing and your experience it brought you. I'm guessing on this last line but I think I'm probably close in being right. i know this through your posts and your view on human beings.
I have went through guilt most of my life not being around Mum when I know she could have used my help. But it is difficult when you are starting a new life with a wife family and home. I live a day's drive from home and still get there twice a year. Mum passed away 2007 and i still miss her. All you can do is do your best and you are in a lot of way in that you are there to help.
All the best Joe.
Adrien