The key to hearing God’s voice is having a heart that honors Him, is willing to obey, and stays grounded in Scripture. From the Old Testament to the New, the Bible shows that God speaks most clearly through His Word, and those who belong to Him—through salvation in Christ—are able to recognize His voice (John 10:27; Hebrews 4:12). The Holy Spirit helps believers discern God's voice (John 16:13; Galatians 5:16). God may also use prayer, people, and circumstances to guide us (Proverbs 11:14; Luke 5:16); however, we should measure all of this against His Word (1 Thessalonians 5:21). God is always faithful to His Word. Hearing God’s voice grows with spiritual maturity, obedience, and time in Scripture (Hebrews 5:14; Colossians 3:16). Ultimately, we don't need a special word from God for every decision—most of His will is already revealed in the Bible, and we are called to trust and obey what He has already spoken.
Accurately hearing God's voice is something that we grow in as we mature in the faith. Such hearing of God's voice is not to be confused with claims of new revelation from God but rather refers to communing with God as we relate to Him through Christ. Also recognize that sometimes people claim to have heard the voice of God tell them to do something when perhaps it was the voice of their own mind speaking.
God most often and most clearly “speaks” to us through His Word, but we can also hear God’s voice as He speaks through others, circumstances, and prayer. Any time God speaks to us, it must be in agreement with the Word of God. When we read the Bible with a heart seeking understanding, we are actively listening to God's voice. The majority of God's will for our lives is already revealed in the Bible; our portion is to obey what God has told us in its pages.
While it can be tempting to think that we need a specific word from God in order to make any decision in our lives, that can sometimes become an excuse to remain stagnant or make unwise decisions. The claim to be "waiting on God" could just be refusing to obey what God has already commanded or are hesitating out of fear. While we certainly should pray over important decisions and may, at times, need to wait on God for His direction, many other times we've already been given the direction we need, so we simply need to move forward. God has given us many clear instructions in His Word, and these guide us in many daily decisions.