mentor

nouns

a wise and trusted guide and advisor
mentor, wise man

verbs

serve as a teacher or trusted counselor
"The famous professor mentored him during his years in graduate school"; "She is a fine lecturer but she doesn't like mentoring"
mentor
is a type of (narrower)
impart skills or knowledge to
"I taught them French"; "He instructed me in building a boat"
instruct, learn, teach