Walking with someone or guiding them to a destination is a simple task that humans do everyday. However, while almost any mobile robot can navigate to a given point while a human walks behind it, these robots do not take into consideration whether the human is following along properly. Our research involves the use of a wireless sensor network for navigation of a guidance robot and a vision-based tracking system for human awareness. The network creates a virtual directional field that provides a directional imperative to the robot, and the vision system allows it to detect if a following human has strayed. We also present a demonstration of our system in a real world application.