There are many kinds of prayers
some are somewhat formal
some are public
some are intense
some are from on our knees
some are as we drive down the road
Pray is a conversation with God
We should be in constant conversation with God The Spirit of Grace
He is often the least noticed of the Trinity
While we pray to the Father In the Name of Jesus
it is the Holy Spirit who is helping us pray 

{8:25} But if we hope for that we see not, then do we with patience wait for it. {8:26} Likewise the Spirit also helpeth our infirmities: for we know not what we should pray for as we ought: but the Spirit itself makethintercession for us with groanings which cannot be uttered. {8:27} And he that searcheth the hearts knoweth what is the mind of the Spirit, because he maketh intercession for the saints according to the will of God. Romans 8:25-27

I remember once a Mormon asked me what made Jesus perfect
I paused for a moment and said within myself
"Lord, what should I say?"  The Holy Spirit spoke up through me
'Jesus was perfect because He kept His eyes on God'
My conversation was 'full of grace'
I invited the Holy Spirit in and because of that I
'knew how to answer'

{4:6} Let your speech be alway with grace, seasoned with salt, that ye may know how ye ought to answer every man. Colossians 4:6

Just as God gave His only begotten son
God has given us His Spirit
Talk with the Holy Spirit about EVERYTHING ALL THE TIME
then when you speak to others
you may discover you are Speaking by the Spirit