How Can Human Free Will, Divine Sovereignty, and Divine Omniscience All Fit Together?

How can humans have free wills to do as we please, and God have control over the universe at the same time?  Isn’t that impossible?  And if God knows what we are going to do tomorrow, doesn’t that mean we are destined to do what we do tomorrow?  How is that having a free will?  All of these questions will be answered in this one, fascinating teaching!