How did Saul hear the words of the Lord Jesus at Damascus?
Saul heard the words of the Lord Jesus while in Damascus, and the account indicates that Ananias probably rehearsed them with him. The Lord Jesus had spoken to Ananias concerning Saul, so Ananias then likely relayed that message to Saul.
Les explains that in Acts chapter 9, the Lord Jesus speaks to Ananias about Saul, saying he will bear His name before Gentiles, kings, and the children of Israel, and that He will show him how great things he must suffer for His name's sake. Then in Galatians chapter 1, Paul refers back to that time, stating that immediately as soon as Saul up in Damascus had heard the words of the Lord Jesus—and probably Ananias rehearsed it with him—immediately he went up to Jerusalem to check it out with the twelve. But the text clarifies it does not say that. So Saul heard the words while at Damascus, likely through Ananias relaying them.
And he trembling and astonished said, Lord, what wilt thou have me to do? And the Lord said unto him, Arise, and go into the city, and it shall be told thee what thou must do.
And he said, The God of our fathers hath chosen thee, that thou shouldest know his will, and see that Just One, and shouldest hear the voice of his mouth.
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Why did Saul ask Jesus 'Lord, what would you have me to do?' on the Damascus road?
Saul of Tarsus trembled, shook, and asked 'Lord, what would you have me to do?' precisely because God had made him a nobody with nothing he could claim as worthy.