The Greek word "proorizo", which means to determine in advance, to order, to decide about a future time, goes hand in hand and in harmony with the knowledge of future events or foreknowledge. God gives us freedom to choose between good and evil (free will); He does not force us, according to His perfect will, into the wisest choice; but He did know, with admirable foreknowledge, what we were going to decide.

He, knowing our past, present and future behaviors, even before our birth, loves us, waits for us, and desires the best for us, through salvation in His only Son, Jesus Christ.

Deuteronomy 30:15,19 NKJV

15 See, I have set before you today life and good, death and evil,
19 I call heaven and earth as witnesses today against you, that I have set before you life and death, blessing and cursing; therefore choose life, that both you and your descendants may live;

Psalm 139:1-4,16-18 NKJV

1 O Lord, You have searched me and known me.
2 You know my sitting down and my rising up;
You understand my thought afar off.
3 You comprehend my path and my lying down,
And are acquainted with all my ways.
4 For there is not a word on my tongue,
But behold, O Lord, You know it altogether.
16 Your eyes saw my substance, being yet unformed.
And in Your book they all were written,
The days fashioned for me,
When as yet there were none of them.
17 How precious also are Your thoughts to me, O God!
How great is the sum of them!
18 If I should count them, they would be more in number than the sand;
When I awake, I am still with You.