Is there a guide for Darshan from Tirupati Balaji temple?
You can book a ticket in the APTDC services available online in almost all major cities of India, they will provide a guide to take you from your destination to the temple way back to your home town.
You can hire some of the Private Cab providers and some local people driving the Jeeps to guide you to Sri Venkateshwara temple and other visiting places on Thirumala Hill and Tirupathi. These drivers are available in plenty near the Tirupathi Bus Stand itself.