Primarily, the will of God for us is to obey his commandments. As christians, for us to be in the side of God and for us to be under the jurisdiction of God or if we want the Lord Jesus Christ to always accompany us in this life we have to obey all his commandments, according to the book of Matthew 28:20:
Teaching them to observe all that I have commanded you; and lo, I am with you always, to the close of the age.
As christians, for us to be under the God's care, compassion and guidance, we have to obey his will which is God's Commandments according to the bible and that is the only way for us to reach heaven.
Matthew 7:21:
Not every one that saith unto me, Lord, Lord, shall enter into the kingdom of heaven; but he that doeth the will of my father which is in heaven.
As the true disciples of Jesus, we should always delight to do his will, to abide by his law, to draw close to God by obeying and keeping his commandments within our hearts.
In bro Eli Soriano wonderful teaching about "Obedience to God's will", he made us to understand that the whole duty of man is to fear God and follow his commandments, and in return, our Lord Jesus Christ promise us that he will dwell in that man who obey and keep his commendments. Let us always obey God's will and his blessings will dwell in us.