Much of what we know about his words and lessons were memorized by his followers, some of which had perfect audio recall. Buddha himself was purported to be capable of projecting imagery into the minds of others.
Buddha likely indicated asceticism should be avoided and most would find some ease in the work they must do to be satisfied with life by following a middle way, or measured and balanced approach to living life as a householder. His followers were the exception to this guidance, as they sought a higher understanding and ability to teach others the dharma.
This middle way is mostly derived from the logic of ethical behavior, and these truths may be discovered without assistance if one considers and puts attention on them. The Four Noble Truths are just a means to remember the pickle we find ourselves in with our thoughts and conditions and give way to the Noble Eightfold Path which indicates where we tend to wander from the path of understanding and peace with ourselves and others.
Past that, the only way to see the truth of things is to sit and note breath until you see the truth for yourself. Then, suffering is reduced and you continue on, as if having seen the solution to a puzzle you didn’t know the answer to a moment ago. This is the more advanced route and not suggested for householders, nor should householders attempt to teach the dharma to others.
In short, being a householder following the path means you be present with your thoughts. Here. Now. Avoid negative emotions. Speak your truths. Avoid dissonance. Break it where it helps the most people. And, above all, die well.