The tabletop and stools are attached to their metal frames with self-tapping wood screws, so pilot guide holes are unnecessary. As detailed in the manual, just center the frames to the underside of the table/stool MDF wood pieces, then use a Phillips head screwdriver to start the "P" screws for the table, and "O" screws for the stools, and they will easily screw right in.

Please see the manual below. Downloadable/printable PDF version of the manual at the bottom of this article.