Having brought the apostles, they made them appear before the Sanhedrin to be questioned by the high priest.  “We gave you strict orders not to teach in this name,” he said.  “Yet you have filled Jerusalem with your teaching and are determined to make us guilty of this man’s blood.”  Peter and the other apostles replied: “We must obey God rather than men!

They state it clearly:  their orders are from God, not from man.  They know this and they obey.  Sometimes people won’t understand decisions we make or actions we take, but if our instructions are clearly from God, we can obey with confidence.