Listening starts with focusing on God. Practice listening to Him. Push past the distractions. In the silence and stillness He speaks in many ways - through His Word; through our thoughts; through a deep impression in our spirit; through prayer; through revelation; through a prophetic word; through a word of wisdom and insight; through dreams and visions.
His voice can come in many ways, and sometimes through ways we least expect! It's good to have that quiet place - that God place - that is special to us to meet with Him. We also need to be expectant at any time and in any place. We can be hearing Him in the moment, wherever we are. That is why it's so important to stay in tune with Him. It's good to live with a sense of expectation and faith in our walk with God! In that way we are ready for anything at any time!