When you are properly prepared you would not need to bring any hardcopy documents with speaker notes / guides during. However for a peace of mind, especially during a long presentation, for example a one day training, it may be good to bring these supporting hardcopy materials with you.
You should normally not look into these hardcopy documents when you are talking, but you can use them for example during a break to refresh your memory for the following sections. Just having these papers with you may provide a level of comfortable feeling, even if you will not actually use the documents.