There are many ways to listen to God. You asked about how to learn. Your heart obviously seeks God and it seems you know there is a way that will draw you closer. In the most important and most difficult parts to acquire, you are already on the path now. Do not downplay where you are right now.
The following is what I have done to help me learn something that seems more and more the province of God.
These practices are not numbered because numbering might indicate a step-by-step process — which is not what is intended. The practices might be best seen as pieces of a puzzle. Anyway, here are the components or elements of what I sense in my efforts to learn to listen to God:
— Thinking about God, his characteristics, his works through history.
— Thinking about my relation to God in time and eternity.
— Thinking about why the world’s ways are not my goals.
— Bible reading for study, knowing the text and its meaning.
— Entering God’s stillness. This is like silence, but it is not silence. This is not a soundproof booth, but what I call God’s silence — hard to find. The dimly lit abbey church in the evening, a mountain, and a small island were the last three places I entered such silence. None were soundless, but all were completely still.
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Lectio Divina. For me this is slow prayerful reading of the Bible until a passage causes me to stop and meditate and rest in the sense received. I may keep this sense, reviewing it for days.
— God’s illuminations of an ineffable joy. Of God and by God.