In this paper, we propose a framework to address the problem of guiding a person within a semi-structured environment in a socially acceptable manner that prioritises safety and comfort. We propose an algorithm based on the optimal Rapidly exploring Random Tree (RRT*) algorithm for path planning. Our proposal utilises Dubins curves and takes into account the user during path planning to generate a navigation path that allows the robot to follow a feasible path that can also be navigated by the user. A comparative analysis against standard path planning based on the RRT* algorithm and the Social Force Model validates the efficacy of our proposed algorithm.