Hath appointed thee (proecheirisato). First aorist middle indicative of procheirizō, old verb to put forth into one’s hands, to take into one’s hands beforehand, to plan, propose, determine. In the N.T. only in Act 3:20; Act 22:14; Act 26:16. Three infinitives after this verb of God’s purpose about Paul:
to know (gnōnai, second aorist active of ginōskō) his will,
to see (idein, second aorist active of horaō) the Righteous One (cf. Act 3:14),
to hear (akousai, first aorist active of akouō) a voice from his mouth.