Prayer is a one-on-one conversation with a loving God in which you can be confident that He hears you. Psalm 66:19-20 says, “But God did listen! He paid attention to my prayer. Praise God, who did not ignore my prayer or withdraw his unfailing love from me.”
So, prayer is for every believer, no matter who you are. You don't need to be a pastor or use complicated words. Just talk to God like you would a good friend. Although you may not feel like you know Him well, He knows you better than anyone else knows you (Psalm 139).
