Psalm 16:7-8

I will bless the Lord who has counseled me; indeed, my heart (mind) instructs me in the night. I have set the Lord continually before me; because He is at my right hand, I will not be shaken.

The more we focus on God and His counsel, the closer we draw God to us. The Lord will teach us and instruct us in His ways. He will lead us with the Holy Spirit and guide us closer to knowledge and understanding of His word. The relationship with God develops with time and practice as we learn to trust God and His works.