How to listen to God

I was snuggling with Cooper one morning answering his 8 billion questions when he said..."I never hear God...how to i hear him?" I said first, he had to be very quiet, its hard to hear when you wont stop talking. Then after awhile, you could ask God a question, then be quiet again to hear Him. i said its not always like a voice like my voice sounds, but more like a "knowing" that speaks through your heart. So he went silent, for a good three minutes...then i heard him whisper something though i didnt hear what it was. Then a few minutes later Cooper said he heard God..."he spoke to my heart and he told me he loves me"....and I believe every word of it.