When you go for counseling, you're getting advice to help you make a decision or figure out what to do. Before getting married, you and your intended may see your minister for counseling about how to have a happy marriage.
Usually counseling takes the form of talking with someone who has experience or training in specific areas where you need help. For example, if you need financial counseling, you'll find an expert in managing money. People who go to therapy with a psychologist or psychiatrist, to get help with whatever is bothering them, may also refer to that therapy as counseling. Counseling comes from the Latin root consilium, meaning "advice."