Final answer:
The passive form of 'Rafi is guiding us well' is 'We are being guided well by Rafi,' focusing on the action being received rather than who is performing it.
Step-by-step explanation:
The passive form of the sentence "Rafi is guiding us well" would be "We are being guided well by Rafi." In this passive construction, the object 'us' from the original sentence becomes the subject 'We', the verb phrase 'is guiding' changes to 'are being guided' to reflect the passive voice, and the original subject 'Rafi' is now introduced by the preposition 'by' at the end of the sentence.
This transformation is typical when changing an active sentence to its passive form, which is often used to shift the focus from who is performing the action to the action itself or to the recipient of the action.