So maybe you should hire a guide. Either one can be extremely useful but the two activities are quite different. The goal of individual counseling is mental health and emotional growth. A counselor can help you understand and accept yourself and also to make constructive changes. Counseling can be very practical and goal-oriented or it can be directed toward therapy and personal transformation.
Couples counseling is practical and oriented toward mutual understanding and better communications.
This is great stuff if you want to work out an agreement or work on better co-parenting. To get help from a counselor, you have to want it and be ready, willing, and able to accept it. One person can get help from counseling, but to mediate, you both have to want to do it. The goal of mediation is specifically to reach an agreement. This makes any subsequent legal contest more efficient and less expensive.