Entering data from an array into a database using ColdFusioin

I am trying to enter data from an array into a database and keep getting an error.

My array is generated from a form and then converted to a Session structure because I will be adding it in the database later.  Here is the code for this:

<cfset Sleeps = 6> <!---Temporary value set - This will come from a database--->
<cfform name="formGuests" id="formGuests" method="post">
    <h3>Please enter the names, ages and relationship to person booking the property. If less than guests, leave the additional spaces blank.</h3>
    <table class="guests">
        <tr><td width="255">Guest(s)</td><td width="55">Age</td><td width="155">Relationship</td></tr>
    </table>
    <cfloop from="1" to="#Sleeps#" index="i">
    <label for="Guest#i#">
    <cfif i EQ 1>
        <cfinput type="text" name="Guest#i#" size="35">
        <cfinput type="text" name="Age#i#" size="3">
        <cfinput type="hidden" name="Relationship#i#" value="Remitter">
    <cfelse>
        <cfinput type="text" name="Guest#i#" size="35">
        <cfinput type="text" name="Age#i#" size="3">
        <cfinput type="text" name="Relationship#i#">
    </cfif>
    </label><br />
    </cfloop>
    <br />
    <cfinput type="hidden" name="maxOccupancy" value="6">
    <cfinput type="submit" name="SubmitForBooking" id="SubmitForBooking" value="Continue" />
</cfform>


<cfif IsDefined("SubmitForBooking")>
      <cfset arrayGuest = []>
   
    <!--- for each line in the form, extract the values and add it to your array --->
    <cfloop from="1" to="#form.maxOccupancy#" index="i">

            <!--- create a new structure to store the new line of information --->
        <cfset guestInfo = {} >
       
        <!--- store the values of each form field --->
        <cfset guestInfo.guest = FORM["Guest#i#"]>
        <cfset guestInfo.age = FORM["Age#i#"]>
        <cfset guestInfo.relationship = FORM["Relationship#i#"]>
       
        <!--- add the new guest to your array --->
        <cfset arrayAppend(arrayGuest, guestInfo)>
    </cfloop>

      <!---Create the Session struction for the Guests array--->
    <cflock timeout="20" scope="session" type="exclusive">
        <cfset SESSION.Guests = StructNew()>
    </cflock>
   
    <!---- Dump the data to see the results --->
    <cfset Session.Guests.arrayGuest = arrayGuest>
    <cfdump var="#Session.Guests#">
</cfif>

Here is the code I am using to enter into the database:

<cfset OrderID = 1> <!---Temporary value set - This will come from a database--->
<cfloop from="1" to="6" index="i">
      <cftransaction>
        <cfquery datasource="#DataSource#" name="insertGuests">
            INSERT INTO guests
                    (OrderID, GuestName, GuestAge, Relationship)
            VALUES       (<cfqueryparam value="#Trim(OrderID)#" cfsqltype="cf_sql_integer">,
                     <cfqueryparam value="#Trim(Session.Guests.arrayGuest.Guest[i])#" cfsqltype="cf_sql_varchar">,
                     <cfqueryparam value="#Trim(Session.Guests.arrayGuest.Age[i])#" cfsqltype="cf_sql_integer">,
                               <cfqueryparam value="#Trim(Session.Guests.arrayGuest.Relationship[i])#" cfsqltype="cf_sql_varchar">)
        </cfquery>
    </cftransaction>
</cfloop>

The error I am getting is:

Element GUESTS.ARRAYGUEST.GUEST is undefined in a Java object of type class [Ljava.lang.String; referenced as ''