"He shall give His angels charge over you, To keep you in all your ways." (Psalm 91:11)

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Old Testament

Exodus 23:20  
"Behold, I send an Angel before you to keep you in the way
and to bring you into the place which I have prepared."
I Kings 19:5-8  
Then as [Elijah] lay and slept under a broom tree, suddenly an angel touched him, and said to him, "Arise and eat." Then he looked, and there by his head was a cake baked on coals, and a jar of water. So he ate and drank, and lay down again. And the angel of the Lord came back the second time, and touched him, and said, "Arise and eat, because the journey is too great for you." So he arose, and ate and drank; and he went in the strength of that food forty days and forty nights as far as Horeb, the mountain of God.
Psalm 34:7  
The angel of the Lord encamps all around those who fear Him, and delivers them.
II Kings 6:15-17  
And when the servant of the man of God arose early and went out, there was an army, surrounding the city with horses and chariots. And his servant said to him, "Alas, my master! What shall we do?" So he answered, "Do not fear, for those who are with us are more than those who are with them." And Elisha prayed, and said, "Lord, I pray, open his eyes that he may see." Then the Lord opened the eyes of the young man, and he saw. And behold, the mountain was full of horses and chariots of fire all around Elisha.
Psalm 91:9-13  
Because you have made the Lord…your habitation,
No evil shall befall you…
For He shall give His angels charge over you,
To keep you in all your ways.
They shall bear you up in their hands,
Lest you dash your foot against a stone.
You shall tread upon the lion and the cobra,
The young lion and the serpent you shall trample underfoot.

The New Testament

John 11:25-26  
"I am the resurrection and the life.
He who believes in Me, though he may die, he shall live.
And whoever lives and believes in Me shall never die."
Luke 15:4-10  
"What man of you, having a hundred sheep, if he loses one of them, does not leave the ninety-nine in the wilderness, and go after the one which is lost until he finds it? And when he has found it, he lays it on his shoulders, rejoicing. And when he comes home, he calls together his friends and neighbors, saying to them, 'Rejoice with me, for I have found my sheep which was lost!' I say to you that likewise there will be more joy in heaven over one sinner who repents than over ninety-nine just persons who need no repentance. Or what woman, having ten silver coins, if she loses one coin, does not light a lamp, sweep the house, and search carefully until she finds it? And when she has found it, she calls her friends and neighbors together, saying, 'Rejoice with me, for I have found the piece which I lost!' Likewise, I say to you, there is joy in the presence of the angels of God over one sinner who repents."

The Heavenly Doctrines

Heaven and Hell 247  
The Lord has provided that there should be angels and spirits with each person.
Apocalypse Explained 1174:2  
The Lord leads a person as if by the hand.
see Arcana Coelestia 6482  
Angels serve as the Lord's ministers.
see Arcana Coelestia 5980  
Angels watch carefully and unceasingly to see what the evil spirits and genii present with a person are intent on and trying to do. And so far as the person allows them, they turn evils into good, or into something approaching good.
Arcana Coelestia 697  
At least two evil spirits and two angels are present with every person.
see Arcana Coelestia 5992  
Spirits from hell are constantly on the attack, and angels provide.
see Arcana Coelestia 5992:3  
Nothing gives the angels greater delight and happiness than to remove evils from a person and lead him to heaven. This is their joy.
Arcana Coelestia 5979  
The angels depart as hellish spirits come nearer. Yet the angels from heaven never depart completely from a person.