How do babies come to know the voice of their parents? It’s because of the time spent with the parents. It’s no different recognizing the voice of God. Being in His presence for a great deal of time helps us to identify his voice no matter where we are when He speaks to us.
That’s why, first; we should invest significant time reading, studying, and meditating on the Bible. In it, we can hear the voice of God as He provides guidance in order to properly raise/sanctify us; as He equips us for this life and the coming one.
Secondly, and at the same time, what too helps in recognizing His voice is loyalty. I’ve found that making a commitment to God helps underscore the relationship of belonging to Him. It brings to life these words from Jesus—“My sheep [belonging to Him] listen to my voice; I know them, and they follow me” (John 10:27).
Staying in His word and belonging to Him will lead naturally to the third and final way to hear and recognize God’s voice. That would be prayer. It is by way of prayer that God may respond to us in our conscience, circumstances, and/or through people.
These three methods help us know the genuine Voice, for it is by living all three that we learn to discern the counterfeit voice that we or the devil might manufacture.