Yes, he teaches us direct through Christ by the Spirit once we are born of God and walk in the Spirit, thus God by the Spirit writes the laws in our hearts and in our minds and teaches us all things, so it's not going by the letter of the law which can be changed to suit man, but listening to the Spirit of truth who will be prompting and guiding us daily to do what's right before God. We are to listen to our conscience. And if we are walking in the Spirit, he will always be prompting and guiding us to do what's right.
And Jesus said, to love God with all our hearts, mind and soul, and to love our neighbour as ourselves covers all the laws, as on these two commandments hang all the laws and the prophets, and if we have true faith, we will obey God and listen to the Spirit and we will truly live by these commandments, and then we will be obeying the laws of God. And God will be changing our hearts to be more like Christ Jesus.