West Texas Counseling & Guidance (formerly Samaritan Counseling) was established in 1976 as a satellite of the Abilene Pastoral Care and Counseling Center. At that time, a single therapist from Abilene came to San Angelo once a week to see clients. Sessions were held either in the client's homes or in borrowed offices.

By 1978, the Center had grown and was able to purchase a residence at 2001 Colorado Street, which was converted into offices. That same year, the Center became a 501(c)3 nonprofit agency as designated by the IRS. Colorado Street was Samaritan's home for the next thirty years.

In 1986, the Center affiliated with the National Samaritan Institute and began doing business as the Samaritan Counseling Center of San Angelo. In 2012, the Center dropped its affiliation with the Samaritan Institute and rebranded as West Texas Counseling & Guidance to reflect a broader scope and new era.

Through the years, West Texas Counseling & Guidance has maintained a high standard of professional ethics. Today, the Center is the only non-profit, outpatient, mental-health service provider dedicated to counseling across 36 counties in the Concho Valley, Val Verde area, and the Permian Basin, as well as in three counties in Southeastern New Mexico.

The mission of WTCG is to enable individuals and families to reach their full potential in body, mind and spirit, using evidence-based counseling and educational services.