In this study, we aimed to develop a guide to support learning for older adults engaged in volunteer activities with the expectation that the acquisition of knowledge and skills would improve their sense of well-being and promote the formation of volunteer communities in which older adults would support each other. In Study 1, a draft support guide for learning was created by reanalyzing and integrating previous studies to concretize the elements and support learning. In Study 2, semi-structured interviews were conducted with five public health nurses to test the content validity and feasibility of the draft support guide for learning. Consequently, learning was defined as a four-step development process consisting of four elements: mutual engagement, joint enterprise, shared repertoire, and the meaning of activities. Regarding support for learning, the potential was support for mutual engagement and joint enterprises. Coalescence was supported by all four elements. Maturing was defined as support for mutual engagement, shared repertoire, and the meaning of activities, while stewardship was defined as support for mutual engagement and joint enterprises. In addition, support for acquiring the skills to speak as equals in a group was considered support to be provided at all steps of learning. The characteristics of this guide are that it can be used at any step in the learning process and includes support that considers the characteristics of older adults; further, it always supports the expansion of mutual engagement, which is the basis for learning among older groups. Using this guide and supporting learning among groups of older adults, the establishment of supportive relationships in the community can be promoted, and the development of a volunteer community can be anticipated.