Housing counselors can do a lot, but they are limited by lenders’ policies regarding what are termed loss mitigation measures.
If you’ve missed a payment or two but haven’t received a notice of intent to foreclose (or something similar), you have a decent chance of working something out with the help of a counselor or with the servicer or lender directly. You may be able to keep your house, and perhaps get a more affordable mortgage payment for the future.
If you are way behind on your payments (four or more months) and have already received a notice of default (in states that require them) or even a notice of sale, your chances of working something out aren’t very good. At this point, the lender is unlikely to consider you a good candidate for keeping current in the future, whatever your payments may be.