We all have people in our lives who think they know what is best for us. They want to tell us what we are doing wrong in our lives and how we can fix "our mistakes". These people may be well intentioned, but they are not the experts on our lives. We are the expert on our lives, and if we have given that power away, we need to take it back. This does not mean that we can't learn from others, because we must always be open to learning, just as we are open to teaching.
Stepping away from the path that others have carved out for you can be scary, but in order to find true happiness we have to follow our own path. It is never too late to change your direction, to take that fork in the road that will lead to the destination you want.