It’s communication with God. There are many types. It’s not just memorized prayers, kneeling down, by yourself, KJV voice, etc. It’s constant communication with God. Concerted/set-aside, longer time for prayer is vital, but you can and should also pray in your car, when you see someone in need, while you’re on the treadmill, etc. It’s talking AND listening. How do you recognize His voice? How do you recognize anyone’s voice? If your dad were to call you from an unknown number, would you recognize his voice? Of course you would. Why? Because you’ve heard it so many times. It’s the same with God. The more you pray, the more you recognize His voice. It takes time and practice.