There are different words for praying in Hebrew and Greek. The words used in translation in the Bible are for example: thanking, honoring, calling, and blessing. You can also see in the Hebrew text above a Psalm other things related to prayer, such as whether it is a silent prayer or not.
In the Old Testament, most prayers are without a fixed text. So prayers to God were generally spoken in their own words. There were not many prayers with fixed texts at that time.
I am in favor of this. Better in your own words than reciting a formulated, memorized prayer.
Fixed-form prayers are more common in the post-Babylonian-captivity books. And also praying at fixed times became more common in those days.
For example, Daniel prayed three times a day towards Jerusalem (See Daniel 6:11)
The Bible also shows us various postures when praying.
For example, Hannah prayed silently and only moves her lips, which does not seem common at the time, because Eli thinks she is acting strange (See 1 Samuel 1: 9-16).
People could also sit or lie on the floor while praying (See Ezra 10: 1).
And also they could stand or kneel with their hands lifted up to heaven (See 1 Kings 8:22).
I usually recommend that people pray with respect and speak as if you speak with an important personality who is also your best friend.
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