How can we recognize the voice of God?

This question has been asked by countless people throughout the ages.
Samuel heard the voice of God, but did not recognize it until he was
instructed by Eli (1 Samuel 3:1–10). Gideon had a physical revelation
from God, and he still doubted what he had heard to the point of
asking for a sign, not once, but three times (Judges 6:17–22,36–40).
When we are listening for God's voice, how can we know that He is the
one speaking? First of all, we have something that Gideon and Samuel
did not. We have the complete Bible, the inspired Word of God, to
read, study, and meditate on. "All Scripture is God-breathed and is
useful for teaching, rebuking, correcting and training in
righteousness, so that the man of God may be thoroughly equipped for
every good work" (2 Timothy 3:16–17). When we have a question about a
certain topic or decision in our lives, we should see what the Bible
has to say about it. God will never lead us contrary to what He has
taught in His Word (Titus 1:2).

To hear God's voice we must belong to God. Jesus said, "My sheep
listen to my voice; I know them, and they follow me" (John 10:27).
Those who hear God's voice are those who belong to Him—those who have
been saved by His grace through faith in the Lord Jesus. These are the
sheep who hear and recognize His voice, because they know Him as their
Shepherd. If we are to recognize God's voice, we must belong to Him.

We hear His voice when we spend time in Bible study and quiet
contemplation of His Word. The more time we spend intimately with God
and His Word, the easier it is to recognize His voice and His leading
in our lives. Employees at a bank are trained to recognize
counterfeits by studying genuine money so closely that it is easy to
spot a fake. We should be so familiar with God's Word that when
someone speaks error to us, it is clear that it is not of God.

While God could speak audibly to people today, He speaks primarily
through His written Word. Sometimes God's leading can come through the
Holy Spirit, through our consciences, through circumstances, and
through the exhortations of other people. By comparing what we hear to
the truth of Scripture, we can learn to recognize God's voice.