How to find a scalar field, given its gradient?

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Given that a vector field $\mathbf v$ satisfies $$\nabla \cdot\mathbf v =0.$$

How can I find $\phi(\mathbf r)$ such that $\mathbf v= \nabla \phi$?

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Substituting $\mathbf v= \nabla \phi$ gives $\nabla^2 \phi = 0$

This is a famous equation called Laplace's Equation. Any PDE book will teach you methods to solve it.