How can one know the Sunnah of the Prophet, peace and blessings be upon him, and follow it?

The Sunnah of the Prophet, peace and blessings be upon him, is well-documented and easily accessible now. However, a Muslim must learn it and study its meanings under the guidance of a scholar to worship Allah with insight. Knowledge is a means to action; therefore, a Muslim should act upon what he has learned to achieve emulation of the Messenger's guidance, peace and blessings be upon him, in compliance with the words of Allah Almighty: "There has certainly been for you in the Messenger of Allah an excellent pattern," and with his, peace and blessings be upon him, saying: "If I forbid you from something, then avoid it, and if I command you to do something, then do of it as much as you are able." It is also necessary to acquire everything that aids in steadfastness and firmness, such as righteous companionship.