Emotional Support Conversation (ESC) systems aim to provide holistic support by balancing professional therapeutic competence with natural empathy. However, existing methods struggle to simultaneously achieve structured, stage-aware reasoning and seamless empathy-expertise alignment, often resulting in an artificial splicing of clinical strategies and generic reassurance. To overcome these limitations, we propose ESCRAG-R1, a unified framework that integrates retrieval-based psychological guidance into Group Relative Policy Optimization (GRPO). By incorporating retrieval into the reinforcement learning loop, ESCRAG-R1 transforms external knowledge into a robust learning signal that stimulates explicit internal reasoning prior to generation and fundamentally reshapes the model's internal policy. To provide the reliable supervision required for this optimization, we construct ESC-Preference, a high-quality dataset based on a Client--Counselor--Judge evaluation framework that delivers precise, empathy-aware reward signals. Extensive experiments demonstrate that ESCRAG-R1 significantly outperforms existing baselines by mitigating superficial splicing and realizing a natural integration of professional guidance and empathetic expression. Code and datasets are released at https://github.com/Matcha-Liu/ESCRAG-R1.

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