The technique is to listen to your voice of conscience.
You know you’re listening and acting in alignment with your conscience when your body feels relaxed, and your thoughts remain peaceful in deciding how to act.
If you feel stressed or distressed with a plan of action you are not following your conscience.
Following your conscience hurts no one. Not yourself, either.
By acting for the greatest good of everyone concerned in each situation, rather than from just your own desires, you will eventually be able to spontaneously act for the greatest good – most closely acting in alignment with your Higher Self.