True prayer is a communion with the Supreme Truth. Asking something to God is not prayer, it is an extension of our ignorance.
Prayer has nothing to do with words or mantras or chants. The best prayer is the silent prayer. Lucky are those who during the silent prayer merge in the Supreme Truth. It might be for a few seconds but that small experience is unexplainable. It puts us on the path of self realization.
We shed duality in prayer and merge in the Supreme Truth. It is like dew drop merging in the vast ocean. All our worries and pain disappear.
Prayer is not something that you do in a fixed time. We can pray anytime. Even while working we can pray. Pray is constantly remaining in awareness that we are not individual rain drops but part of the great ocean.