About 5 hundred years later, Xuanzang passes by WuKong on his way to fetch the Holy Scriptures from India when Guanyin offers Wukong the opportunity to redeem himself by joining Xuanzang on his quest.
神话百科 The Mythology Book (Big Ideas Simply Explained)
Xuanzang was helped by Guanyin, the goddess of mercy, who arranged for several disciples to protect him in his journey in order to atone for their past misdeeds.