Your dream is God putting you under conviction. Telling you to not wait, not to hesitate one second longer.
Now I dont know how to get it right with Him...how to make this guilt inside go away.
Guilt is a good thing. It is the acknowledgement of sin. Take it to Jesus in prayer, confess your sin to him, ask forgiveness for those sins and truly mean it, ask Him for guidance and help. Then get into a life that is truly for Him, read the Word of God, live each second of the day for Him as if there were no tomorrow.
Your title of this thread says it all. You do need help and Jesus is the only one to help you. Give it to Him.
Is it really too late?
Not as long as you are still in this world. Don't hesistate for we do not know how long we may have here.
My prayers are with and for you.