A method for inserting an acetabular cup into an acetabulum of a patient includes inspecting a preoperative plan including a three-dimensional image of a patient's acetabulum, selecting at least one of a patient-specific anteversion angle and a patient-specific abduction angle, and approving the preoperative plan. The method also includes preparing the patient's acetabulum for implantation, positioning a patient-specific first surface of an acetabular guide around a matched acetabular rim surface of the patient, and inserting an acetabular cup through an opening of the acetabular guide, the opening having a cylindrical inner surface oriented at the selected at least one of the patient-specific anteversion angle and patient-specific abduction angle.