I was excited to see Erin writing about the Higher Self. I have been learning about the Higher and Lower Self through the Pathwork (
International Pathwork Foundation - a spiritual path of personal transformation based teachings of self-responsibility,self-knowledge and self-acceptance channeled by Eva Pierrakos and known as the Guide Lectures) and I've found it immensely helpful.
For the last two years I've been practising a written meditation where I dialogue with my Higher and Lower Self about my intentions, the things I want to create. Listening to my Lower Self helps me bring to the surface fears and limiting beliefs and self-sabotage. Then hearing from my Higher Self helps me bring those issues into alignment with my intentions. I always feel so much better after I've heard the wisdom of my Higher Self, and felt her love and compassion for me.
One of the Pathwork lectures describes this meditation: it's called Meditation for Three Voices (Ego, Lower Self, Higher Self) at
http://www.pathwork.org/lectures/P182.PDF. In Pathwork, the Ego is the mature adult consciousness that we live from day-to-day, so it differs from Erin's terminology in that way.