Two years ago we used a guide to visit Lybia, the cost whas 40USD per day. The minimum number of people was 4 persons. We booked our guide through the internet, no hassles, took us 30 minutes to cross the border Tunesia->Lybia.
We crossed numberous police check-points. The guide became very usefull. Allso the paperwork and so (registration within 7 days, permit to enter the Akakus...) was done by our guide... It was easy.
If you speak arabic you'll have no problem to do it on your own... if you don't, you'd better consider the guide IMHO.
Greetings
M.
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