Jesus said when you pray, not if you pray. The expectation is that we come to him and spend time with him and our heavenly Father.
There are many different ways in which we can pray and there is no "one-size fits all" model, but an UP life is more than prayer (speaking and listening) it's worship.
Below are some really good resources for helping us in our relationship with Father, Son and Holy Spirit.
Be blessed and continue to grow in him who is the source of all life.