God's will

The topic of God's will or God's plan has always been a mental battleground for me. I struggle with whether there is a specific course in which we must follow in order to be in God's will, or whether God's will is simply that we have an attitude of submission to Him. If it is the latter, can we make wrong choices while still wishing to do what God would have us to? Proverbs 19:21 says "Many are the plans in a man's heart, but it is the Lord's purpose that prevails." Does this mean that if we are not supposed to follow a particular direction, God will not allow it to happen? I know this comes down to the disagreement of God's sovereignty versus man's free will, and if I have to pick a side, I will always err to the side of God's sovereignty. However, this leaves me in a quagmire when it comes to major decisions in my life. Do I move forward assuming if it is not God's plan for me, He will stop it? Do I wait for specific confirmation? What if I have several choices, how do I choose the correct path? I am willing to do whatever God chooses for me. As far as I am concerned, the scariest place to be is outside of God's desired plan, but honestly, I don't have any idea what His plan for me is. These are the things I wrestle with. Will I ever know this side of heaven?