In my opinion, the best way to understand God's Foreknowledge and Predestination is to understand it through what is called Molinism.
Felipe, thank you so much for pointing people to Molinism. Of the various explanations of God's foreknowledge, I think that Molinism, or something close to it, is the one most likely to be true. Because the Bible does not give much detail about God's foreknowledge, I think that any explanation of it should be given humbly. But for those interested in studying this topic, I agree with your advice that they would benefit by studying Molinism.
For those not familiar with it, here is my own very brief and simple (perhaps almost overly simple) explanation of Molinism:
God created people with true free will (sometimes called libertarian free will).
However, God can see into the future and He knows what we will freely choose to do. Not only that, but God can see what we would freely choose to do in any possible scenario or in any world He might create. God then uses this knowledge to create the best possible world, the world where His loving plans are achieved in the best possible way.
If this is true, than predestination is based on this foreknowledge. God knows who would accept Him under certain circumstances and God makes a plan to make sure those people do experience those circumstances and actually are saved.
A modern molinist today is William Lane Craig who teaches this position very well, and in my opinion is the biblical way of explaining God's Foreknowledge.
I've read some of Craig's material on Molinism, and I agree that it is very helpful.
Another guy is is Norman Geisler who wrote the book Chose But Free explaining how God predestined us while not taking away ANY human free will at all.
I haven't read Geisler's book, but I just added it to my Amazon wish list (which is quite long, so many books, so little time.)
I agree that Molinism is a way to explain predestination while not taking away human free will, including specifically libertarian free will (which is a fancy name for what most people think of when they think of free will).
I personal believe that where the Calvinist fails is on the assumption that God HAS TO predestine something in order for Him to foreknow it. I think that is bad logic not taught in scripture.
Yes, I agree that it one of several common logical errors I see among Calvinists.
Molinism is a great way to explain that God knows all possibilities and that He knows what would, could and will be in any universe, time, and circumstance imaginable.
Yes, but let's stay humble. I think Molinism is a very good explanation, but I don't think there is enough evidence in Scripture to treat it as a certain truth.