To be able to listen to the ‘voice’ of God, one must be close to Him - in communion with Him, so that one can know the heart of the Father. The closer we get to God through prayers and holy life, the more sensitive we are to God’s prompting. This need to be practiced regularly until we reach such a situation where we know about God’s direction for us.
An easier way to do it, perhaps, is to use the word of God. Daily reading and meditation of the word will seldom lead us stray too much from what God wants of us. As we are more familiar with the word, it would be easier to have it as the lamp to our feet and the light to our path.
God bless.