We can see that God communicates with man in various ways. He speaks through dreams, through visions, through your thoughts, signs, and circumstances, and in an audible voice. He also communicates with us through prophets and angels.
The Hebrew Bible states that God revealed himself to mankind. God speaks with Adam and Eve in Eden (Gen 3:9–19); with Cain (Gen 4:9–15); with Noah (Gen 6:13, Gen 7:1, Gen 8:15) and his sons (Gen 9:1-8); and with Abraham and his wife Sarah (Gen 18).
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).
Examples: 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. They are 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. I have often used this illustration, but it clearly teaches a precise principle.