An incomplete port of the Scheme shell (scsh) was once available for Guile as a separate package. However this code has bitrotten somewhat. The pieces are available in Guile’s legacy CVS repository, which may be browsed at http://cvs.savannah.gnu.org/viewvc/guile/guile-scsh/?root=guile.
For information about scsh see http://www.scsh.net/.
This bitrotting is a bit of a shame, as there is a good deal of well-written Scheme code in scsh. Adopting this code and porting it to current Guile should be an educational experience, in addition to providing something of value to Guile folks.