Listening well is a skill that takes some time to practice and master. To be able to listen well to your child consider the following. This will usually reduce any behavioural issues, confusion and most of all strengthen the bond between you both.
If you can, forget your own concerns, stop what you are doing for the time being and concentrate on what they are saying, watch body language for extra clues. Listen for content and feeling, what is it they are trying to tell you? How are they feeling?