Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach.