Hilchot Teshuva 5:4-5 (G-d’s Omniscience Versus Man’s Freedom of Choice)

In this shiur, the Rambam deals with two pressing questions regarding the principle that man has freedom of choice. First of all, if nothing can take place without its being in accord with G-d’s will, doesn’t man’s freedom of choice allow him to successfully violate G-d’s will? And second, if G-d knows everything, how can man have the freedom to act however he wants? If G-d doesn’t know if a human being will be righteous, then G-d’s knowledge is not perfect; and if G-d does know, then man seems not to have the freedom to choose to be something different from what G-d anticipates. How can Divine omniscience and freedom of choice coexist?