This is a rather often asked question... Does God command us to pray? How one should pray God? Are there any prayers in the Written Torah? Let's look at these questions.
First of all, traditional prayers are not in the Written Torah. There are numerous prayers by different characters in the Torah, but as far as I know, there is only ONE commanded one. Let's take a look:
YLT Num 6:22 . And Jehovah speaketh unto Moses, saying,
YLT Num 6:23 'Speak unto Aaron, and unto his sons, saying, Thus ye do bless the sons of Israel, saying to them,
YLT Num 6:24 'Jehovah bless thee and keep thee;
YLT Num 6:25 'Jehovah cause His face to shine upon thee, and favour thee;
YLT Num 6:26 'Jehovah lift up His countenance upon thee, and appoint for thee--peace.
YLT Num 6:27 'And they have put My name upon the sons of Israel, and I--I do bless them.'
And here is transliteration of Numbers 6:24-26, if you want to memorize it in Hebrew:
Numbers 6:24 Yevarechecha Yahuah veyishmerecha
Numbers 6:25 Yaer Yahuah panav eleycha vichuneka.
Numbers 6:26 Yisa Yahuah panav eleycha veyasem lecha shalom.
This is the only commanded prayer in the Written Torah, and as you can see, it is different in style and mood, than most of the traditional prayers.
Secondly, it appears that most characters talked to God directly. Not necessarily because they have encountered God, but rather because this is the way to talk to Him. The best example would be Moses. Here is what God said explicitly about Moses:
YLT Num 12:6 And He saith, 'Hear, I pray you, My words: If your prophet is of Jehovah--in an appearance unto him I make Myself known; in a dream I speak with him;
YLT Num 12:7 not so My servant Moses; in all My house he is steadfast;
YLT Num 12:8 mouth unto mouth I speak with him, and by an appearance, and not in riddles; and the form of Jehovah he beholdeth attentively; and wherefore have ye not been afraid to speak against My servant--against Moses?'
So basically, Written Torah tells us, that if you want to pray, your prayer should come from the heart and you should talk to God as you are talking to a father. With respect, yet openly and without all ritual crap. If you want God give you a car - just say so: "God, please give me a car. I really need to get a job. Thanks". This would be the most appropriate prayer in such situation.
When I see those prayer books in churches or synagogues, even the parts of the Bible (i.e Psalms, Lamentations, e.t.c, I want to cry. This is not how you pray! Just talk to God already!!! Stop singing Him songs and read him some whiny bullshit from the prayer-book.
Just talk to God as you would to your own Father. With respect, yet openly and honestly. This will guarantee that your prayer will be heard and maybe even answered.
And always remember that Yahuah, God of the Universe, only answers prayers from people who observe His holy Law - Written Torah. If you do not follow Written Torah, God will less likely to respond. So please, before praying to God and asking someone, ask yourself: Have you have been doing things for Him, namely following His commandments, which are outlined in the Written Torah? If yes, then your prayer will succeed, if not - then God will decide on His own. I hope this clarifies this issue.
So, pray from the heart, not from the book!