ACR HAS TXWY INCURSION AT SFO AFTER FAILING TO TURN ONTO THE ASSIGNED TXWY.

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WE EXITED RWY 28R AT TXWY T AND HELD SHORT OF RWY 28L FOR LNDG TFC. CLRED TO CROSS TO TXWY D AND CONTACTED GND. GND ASKED IF A GUIDEMAN WAS PRESENT AT OUR GATE. WHEN WE TOLD HIM NO; HE SAID TO TURN L ON TXWY B. THINKING GND WANTED US ON THE TXWY WITH OTHER TFC WE UNKNOWINGLY CROSSED TXWY B AND STOPPED SHORT OF TXWY A WHEN WE NOTICED THE GUIDEMAN IN PLACE AT THE GATE. WE NOTIFIED GND THAT GUIDEMAN WAS THERE. HE HELD TFC ON TXWY A AND CLRED US TO THE GATE. CAUSE OF THE PROB WAS OUR ANXIOUSNESS AT WANTING TO GET THE TAIL OUT OF THE RWY 28L AREA AS TFC WAS LNDG AND CONFUSION OF GND CTL INSTRUCTIONS. FUTURE BETTER REVIEW OF TXWY CHARTS AND FOLLOWING GND CTL INSTRUCTIONS TO THE 'T' WILL TAKE CARE OF THE PROB. SUPPLEMENTAL INFO FROM ACN 458863: THE CAUSE OF THE PROB WAS MY CONFUSION AS TO HOW GND CTL WANTED TO GET US OUT OF THE WAY AND THE RAPIDITY OF ACTION (10 SECONDS FROM START TO FINISH). IT WOULD HAVE HELPED IF I WAS CLR ON TXWY B VERSUS TXWY A; OR IF I HAD BEEN DIRECTED TO MAKE FIRST OR SECOND L; OR BETTER YET -- IF GUIDEMEN WERE WAITING AT GATE.