How can I be a true follower of Prophet Muhammad (peace be upon him) in all matters, as stated in the Almighty's words: "And follow him so that you may be guided," and how can I avoid falling into innovation (bid'ah)?

Allah commanded us to follow the Prophet, peace and blessings be upon him, and made him an excellent example, clarifying that Allah's love and forgiveness are attained through following him. Following him entails believing in him and affirming what he brought, and adhering to his Sunnah, his character, and his guidance in acts of worship and in dealings, along with perfect love for him and true loyalty to him. Among the books that explain his guidance are: Zad al-Ma'ad, Safar al-Sa'adah, and books of Seerah (biography) and Hadith.