There are two things here: The application guided tour is like a help to assist the users to perform the sequential tasks. This will be configured in the Application rule under Documentation tab. Here you need to create chapters and sequential tasks init. Once you created the chapters, you need to use "pxLaunchAppGuide" control in the portal you to launch this application Guide. The other one is Tour, which provides a step by step contextual help to user based on the tourIDs of UI controls. This can be configured to launch automatically or on any event of a control.
Note: To make the tour automatically starts, you need to provide write access on Data-Preference-Operator class, otherwise it wont work.