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What type of counselor is this?

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Hi, I am Richard and am 33 years old.I want to be a swicth careers and become a counselor. I want to be a counselor but I've found out there are so many different types. I want to counsel and you know motivate and talk indivually with someone helping them and basically you and the client is open with each other and express how they feel and you talk to them and help them threw talking and understanding, and motivation so they can get out their situation and be a better them. what is the name of that counselor?