Hi, Michelle —

Yes, God knows what we are going to do before we do it.

This does not affect free will because foreknowledge is not pre-determination.

Think of it this way. Suppose you are the parent of a small child. You know this child through and through and can predict what the child will do. Let's say you know the child is going to try to steal a cookie from a freshly-baked sheet. The fact that you know this, doesn't force the child to make the choice. You just know the child so well, you're able to predict what they will do.

Here's another example. Say that you're on top of a building and can see two vehicles on different streets speeding down the road and can foresee that they are going have an accident that neither of them are able to foresee. That knowledge doesn't cause the accident, you're just an observer.

God is outside of time. He actually doesn't, strictly speaking, have foreknowledge because that would imply he is confined to time. Imagine someone's life were filmed, and you laid the film out end-to-end such that you could see every frame simultaneously, if your vision were broad enough or suppose it were portrayed on a mural. You could see the whole life at once (and all the choices that were made.)

This is how God see us: He sees everything at once. Just as your viewing the film or mural of a person's life, doesn't affect their ability to freely choose, so God seeing their whole life, doesn't affect their choice either.

Hope this helps!

Eric