A foundation-piering system for lifting and supporting a foundation or structure. The system provides a bracket that includes a seat plate and a pier guide. The seat plate extends horizontally below the foundation to engage the bottom surface thereof. A pad is disposed between the seat plate and the foundation to resist lateral movement of the bracket when under load. The pier guide is provided at a non-vertical angle to enable driving a pier from an initial position laterally adjacent to the foundation to a position that is vertically below the foundation. To install the bracket a face is formed along a bottom edge of the foundation and at an angle corresponding to the angle of the pier guide. The pier guide is abutted against the face when installed to minimize rotational forces encountered by the bracket. The bracket requires no fasteners or other coupling with the foundation.