When you read through first and second Timothy (letters from Paul to Timothy) you get a picture of the relationship between these guys. Timothy learned so much about God and how to be a pastor from Paul. Paul prayed for Timothy, encouraged him, gave him advice, supported him, basically taught him everything he knew.
To be discipled takes honesty; being open to hearing and taking advice. You will get to know God more, you will get to know yourself more, you will be encouraged, you WILL grow.