How does God's foreknowledge allow Him to make plans without overriding human free will?
God's foreknowledge means that before creation He knew exactly what every person and nation would do. Because He knew all future choices, He could plan for every contingency while still allowing men and nations to exercise free will, never overriding their decisions.
Les explains that this is hard to comprehend: God in His sovereignty is in control of everything, yet He never takes away the free will of men and nations. Before He created anything, the Godhead could look down through the eons of time and knew exactly what every person in every nation would do. That is called foreknowledge. With foreknowledge, He could also plan for any contingency because He knew what was going to happen, and yet He never took away the free will of mankind. Israel had absolute freedom to accept Him and have the kingdom, but they also had the free will to reject it. Their rejection did not throw God a curve, because He knew what they were going to do. Les then says he wants to show the verse he had in mind, in Acts.