Tipping is a personal choice and depends on the service rendered. If you feel that the person has been helpful, then go ahead and tip them. If not, don't feel obligated to tip.
Many Guatemalans live in poverty, and tips can be an important part of their income. For the price of a cup of coffee, you can help feed their family. Tipping a few quetzales should be sufficient. For more extensive services – such as for naturalist guides or shuttle drivers – you may want to tip more. Taxi drivers do not expect a tip.
Do note that upscale restaurants may automatically include a tip on the bill.
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