A pipe handling system comprises a pipe erector that is operable to move a pipe from a horizontal storage position to an inclined position. In the inclined positio n, an upper end of the pipe is adjacent to an elevated drill floor of a drilling rig and the pipe i s at an angle between horizontal and vertical. The pipe handling system also comprises a guide system that is operable to engage the pipe and control lateral movement of the pipe as it is moved from being supported in the inclined position by the pipe erector to a vertical position supporte d by the drilling rig.
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