Here is a wonderful explanation of the doctrine of Inspiration, from J. I. Packer:
"The doctrine of inspiration ... tells us that God has put his words into the mouths, and caused them to be written in the writings, of men whose individuality, as men of their time, was in no way lessened by the fact of their inspiration, and who spoke and wrote to be understood by their contemporaries. Since God has effected an identity between their words and his, the way for us to get into his mind, if we may thus phrase it, is via theirs. Their thoughts and speech about God constitute God's own self-testimony." (J. I. Packer, "Biblical Authority, Hermeneutics, and Inerrancy," in Jerusalem and Athens, ed. E. R. Geehan (Nutley, N.J.; Presbyterian and Reformed, 1971), pg. 147
If you want to know God's mind, read the Bible. As Burk Parsons has quipped, "If you want to hear God's voice audibly, read the Bible out loud."
It is no exaggeration to say that the Word of God is, for us, the will of God. And thus, God's will is not lost. It is found in the pages of his word.
If you want to know God's will, first obey what the Bible says, in all areas of your life. As you do so, you'll find yourself being solidly directed by biblical commands and teaching, and by the wisdom that comes from saturating your heart and mind with biblical truth.