Indeed for some that does not know how to pray.. They needed a certain amount of guidance. Therefore Psalms were written and collected from different parts of the book to be able to see and understand how does others pray? How do they do? In that way we also could discover ourselves by navigating through the Psalms in hymns and in uttered whisper towards Hashem.
Our new beginnings in prayers are something we have to remember. Our new beginnings were the most memorable ones because we had that very intensive desire to have a connection to Hashem.
Mostly, myself I would say, learned how to pray through my parents at young age. Then later at teens I think that my prayers becomes more repetitive and I learned to discover by reading and citing Psalms, Proverbs and prayers of Moses in and other significant prophets and teachers in scriptures.
Yet through time, we discovered more new ways of connecting to Hashem. Thus we learned somehow discipline and right way of keeping track in time. Being more sensible to our words and every thibg we utter by whisper or by thousands thoughts.
Prayer is a way of reflection as well. Remember when we pray and sometimes, the Ruach Hakodesh (Holy Spirit) reveals the truth from our inside, our honesty brings out the words and our hearts reveals our intentions and hidden messages we dont usually speak unto others. Tefilla (prayer) brings us to clear mindset and makes us hopeful, trusting God in all our heart, mind and soul.
The Hebrew word for prayer, tefillah, means “self-judgment” and “introspection.” Prayer is meant to be an introspective process. The reason why we pray is not always to change what G‑d had intended for us, but for us to get a better picture of true reality. We might enter the prayers thinking about all that we need and want, but we are meant to finish the prayers with a new realization of all that G‑d does for us and how little we may actually deserve.
A person who experiences prayer this way, as it is intended to be experienced, will finish off his prayers as a very different person than he began. The person who began the prayers (as a selfish, self-oriented individual) might not have really deserved what he was asking for, but the new person who concluded the prayers (as a thankful, grateful and more spiritual being) might now deserve it. In this way our prayers are actually answered, because we change in the process, and any negative decrees are then naturally averted.