"But I certify you, brethren, that the gospel which was preached of me is not after man. For I neither received it of man, neither was I taught it, but by revelation of Jesus Christ." Galatians 1:11-12
You will find, during the long walk with Jesus, that much of what builds our internal faith comes from God by way of the indwelling Holy Spirit. God reveals Himself to you more and more as you spend more time with Him. Paul wasn't pontificating when he said what he had learned was not by the minds of men. He was simply stating a statement that any of us can make after we have spent some quantity time with God.
Taught by revelation isn't some new teaching. It has always been the way God reaches man. It's just that revelation doesn't come to the unprepared vessel. If you want more than a cursory experience with God then you will have to invite God into what you are doing. Our pastors, priests and rabbi's do the best they can to convey what they have seen and heard from God. Of course we need them all and we need each other speaking to one another about the love of God. But if your experience is a textbook experience only, there is much about God that you will not encounter. Even the Bible, was written to reveal God to you, but the Bible is not God. The Bible is representative of all that a man or woman needs to find their place in God's economy and within the pages of scripture are the essential truths that keep you and direct you into agreeable truth.
But nothing can compare with the moments with God when God reveals Himself.