“Biblical counseling” is not some esoteric art, it should be the common interaction between members of a congregation. Counseling is just discipleship with some focus: “14 I myself am satisfied about you, my brothers, that you yourselves are full of goodness, filled with all knowledge and able to instruct one another.” Romans 15:14 (ESV).
As a practical matter, all Christians will be giving counsel to one-another (just like everyone else). The question is not whether we counsel, but whether we counsel well.
Lecture Notes here: Introduction and Overview