Do you believe that your soul has lived before and knows what to do in this lifetime?

Yes certainly!
However, the Soul is beyond birth and death. The Soul was, is, and shall always be, because Soul is an eternal element. And what lives and dies is the body.

Every living being has a Soul therein and every Soul is similar in nature. But the Soul is completely separate from the body that we can see with our physical eyes. Just like the body and the cloth over it are totally separate, that’s how the body and the Soul are separate, completely and utterly separate.
While the body can be seen and felt, Soul is the life-energy, which can be understood and experienced.

So without Soul, there is no life!
The Enlightened One explains:
The experience of the Soul is what is missing. In reality, we are a Soul. Have you not heard people say, “I must have done some bad deeds in past life.” This proves we existed in past life (we lived before). Rebirth is a proof that Soul exists - that Soul was, is, and shall always remain.

The development of people who believe in rebirth has risen to a level where they are able to understand rebirth that, ‘I have made mistakes in my past life, and I am receiving its punishment in this life; if I don’t make new mistakes, I won’t get new suffering in life”, but are unable to experience it. Hence, one is in search of it. Religion does indicate that one should experience the Soul i.e. the Self. And here (on the path of Akram Vignan), such science has come forth that one can attai
Self-Realization with the grace of Dada Bhagwan.

The Enlightened One (Gnani Purush) is One who remains separate from the body and every temporary state related to the body. He remains separate from birth and death. He constantly remains the Knower and Seer (Observer) of these, and prevails in the state of experience as the Soul, the One that’s never born and never dies!

The reality of the state of Self (the pure Soul) when one lived before, when in this lifetime, and after this life has been candidly revealed by the Gnani Purush through the perspective of Gnan (the Knowledge of the Self).

The Soul is actually in the form of absolute Knowledge (keval Gnan Swaroop). The Soul always Knows and Sees everything. The Soul definitely does not undergo birth or death!

How Long Will You Remain Unknown Of Your Real Self?
It is due to ignorance of our real Self that we suspect the existence of our Soul. Hence, all that we really need to know is ‘Who am I?’ (attai
Self-Realization).

When this knowledge is bestowed upon us by a Living Gnani Purush, the experience of the Soul begins. Thereafter the awareness that, ‘I am a Pure Soul’ exists spontaneously and naturally. It is there even when we wake up in the middle of the night.

Therefore, the essence of human life is:
to get the Soul awakened (attai
Self-Realization i.e. a firm conviction of ‘I am a Pure Soul’),
come into the nature of the Self (attain awareness the Soul) and
remain only in the experience of Soul.

To know more:
https://www.dadabhagwan.org/path-to-happiness/spiritual-science/what-is-a-soul/