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I've asked it on Hermeneutics, but they told me to ask here.

A (Roman Catholic) friend of mine told me that each person has a guardian angel. He told me it is based on Matthew 18:10.

"Take heed that ye despise not one of these little ones; for I say unto you, That in heaven their angels do always behold the face of my Father which is in heaven. Matthew 18:10 KJV" In the light of this verse, can we infer that there is an guardian angel for each person?

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According to that verse, the angels are in heaven, not on earth. Also, in what sense does this indicate the angels are guardians? After all, stormy, life-endangering disasters affect the Christian and non-Christian alike. –  Steve Jan 15 at 2:10
    
"In the light of this verse, can we infer that there is an guardian angel for each person?" No. That verse has nothing to do with guardian angels. As far as I can remember, the concept of personal guardian angels does not exist in the Bible. –  Nicolás Carlo Jan 15 at 2:56
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A better verse for a guardian angel might be Hebrew 1:14, speaking of angels: "Are they not all ministering spirits sent forth to minister for those who will inherit salvation?" Still, the "ministering" may be spotty rather than a daily thing, and this applies only to true believers, not all people. –  Steve Jan 22 at 3:34
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3 Answers

It is the belief of both Roman Catholic and Eastern Orthodox that, yes we can.

In Orthodoxy, there is even a prayer to your Angel.

O Holy Angel, keeping guard over my wretched soul and my passionate life, do not forsake me, a sinner, nor depart from me because of my incontinence. Do not give the evil enemy room to overcome me by force of this mortal body. Strengthen my weak and feeble hand, and set me on the way of salvation. Yea, O Holy Angel of God, guardian and protector of my wretched soul and body, forgive me everything by which I have offended you all the days of my life, and even what I have done this past night; protect me during this day, and guard me from every temptation of the enemy, that I may not anger God by any sin. Pray to the Lord for me, that He may confirm me in His fear and prove me a worthy servant of His goodness. Amen.

http://oca.org/orthodoxy/prayers/morning-prayers

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Could you expand on the doctrine more than a simple "yes" a prayer is interesting but doesn't inform much about the actual doctrine/dogma here. –  wax eagle Jan 22 at 3:47
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I'm not going to steal other's writings, so here is a website. antiochian.org/node/18443 –  Kanshan Jan 22 at 3:53
    
Instead of stealing other people's writing, what about writing some of your own words and quoting theirs, like you would with a properly researched answer? –  wax eagle Jan 22 at 10:38
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The Bible tells us there is a set number of angels. They are not created or destroyed. So, if everyone has their own angel, that means there are a finite number Christians. Take Exodus 23:20- Jesus had to send an angel to protect them Daniel 6:22- God had to send angels to shut the mouths of Lions- If we all had guardian angels, couldnt Daniel's guardian angel have done that?

From my understanding of scripture- we do not all have our own guardian angel.

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The Catholic Catechism has something to say on angels:

333 From the Incarnation to the Ascension, the life of the Word incarnate is surrounded by the adoration and service of angels. When God "brings the firstborn into the world, he says: 'Let all God's angels worship him.'"196 Their song of praise at the birth of Christ has not ceased resounding in the Church's praise: "Glory to God in the highest!"197 They protect Jesus in his infancy, serve him in the desert, strengthen him in his agony in the garden, when he could have been saved by them from the hands of his enemies as Israel had been.198 Again, it is the angels who "evangelize" by proclaiming the Good News of Christ's Incarnation and Resurrection.199 They will be present at Christ's return, which they will announce, to serve at his judgement.200

334 In the meantime, the whole life of the Church benefits from the mysterious and powerful help of angels.201

335 In her liturgy, the Church joins with the angels to adore the thrice-holy God. She invokes their assistance (in the funeral liturgy's In Paradisum deducant te angeli... ["May the angels lead you into Paradise. . ."]). Moreover, in the "Cherubic Hymn" of the Byzantine Liturgy, she celebrates the memory of certain angels more particularly (St. Michael, St. Gabriel, St. Raphael, and the guardian angels).

336 From its beginning until death, human life is surrounded by their watchful care and intercession.202 "Beside each believer stands an angel as protector and shepherd leading him to life."203 Already here on earth the Christian life shares by faith in the blessed company of angels and men united in God.

It's clear that it derives much from the pre-Schism writings and liturgies of what is now the Orthodox Church, in the Byzantine Liturgy and the writings of St Basil:

203 St. Basil, Adv. Eunomium III, I: PG 29,656B.

... but a great deal comes from Biblical sources too.

196 Heb 1:6.
197 Lk 2:14.
198 Cf. Mt 1:20; 2:13,19; 4:11; 26:53; Mk 1:13; Lk 22:43; 2 Macc 10:29-30; 11:8.
199 Cf. Lk 2:8-14; Mk 16:5-7.
200 Cf. Acts 1:10-11; Mt 13:41; 24:31; Lk 12:8-9.
201 Cf. Acts 5:18-20; 8:26-29; 10:3-8; 12:6-11; 27:23-25.
202 Cf. Mt 18:10; Lk 16:22; Ps 34:7; 91:10-13; Job 33:23-24; Zech 1:12; Tob 12:12.

There are a number of Biblical verses which speak directly of guardian angels:

Tobit 12 12 [Then the angel said to them] And so, when you and your daughter-in-law Sarah prayed, I brought a reminder of your prayer before the Holy One; and when you buried the dead, I was likewise present with you.

Job 33 23 If there be for him an angel, a mediator, one of the thousand, to declare to man what is right for him ...

Psalm 34 7 The angel of the LORD encamps around those who fear him, and delivers them.

Psalm 91 9 Because you have made the LORD your refuge, the Most High your habitation, 10 no evil shall befall you, no scourge come near your tent. 11 For he will give his angels charge of you to guard you in all your ways. 12 On their hands they will bear you up, lest you dash your foot against a stone. 13 You will tread on the lion and the adder, the young lion and the serpent you will trample under foot.

Matthew 18 10 See that you do not despise one of these little ones; for I tell you that in heaven their angels always behold the face of my Father who is in heaven.

It is from there but a short step which St Basil takes:

All the angels, having but one appellation, have likewise among themselves the same nature, even though some of them are set over nations, while others of them are guardians to each one of the faithful. [Google Books]

St Basil does not say that the faithful have one angel each; but that each of the faithful have a guardian angel (who may also be assigned to watch over others).

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