The Israelites struggled to learn and follow, and God was patient with them, but also stern. In Psalms 94:10 (KJV) it says, “He that chastiseth the heathen, shall not he correct? he that teacheth man knowledge, shall not he know?” And again, in Jeremiah 3233 (KJV), “And they have turned unto me the back, and not the face: though I taught them, rising up early and teaching them, yet they have not hearkened to receive instruction.”
Then God came to us in the physical form of Jesus to teach us how to live right and to prepare us for the kingdom of Heaven. Jesus taught us in parables, which is discussed in more details in The Parables of Jesus. Read Matthew 13 for a good example.