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Yes; Jesus gave us a pattern by which to pray..he outlined it in what is popularly referred to as "The Lord's Prayer".
Contrary to what many people think, He wasn't telling us to pray thaose exact words over and over, since that
would be vain repetition.
Note: "After this manner pray".
He was setting the pattern for our regular prayers. Let's take a look..
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9 After this manner therefore pray ye: Our Father which art in heaven, Hallowed be thy name.
Give Him the glory !
10 Thy kingdom come, Thy will be done in earth, as it is in heaven.
Praise and worship His power !
11 Give us this day our daily bread.
Make your request.
12 And forgive us our debts, as we forgive our debtors.
Any other requests.
13 And lead us not into temptation, but deliver us from evil: A final request For thine is the kingdom, and the power, and the glory, for ever. Close with more praise. Amen.
(Matt 6: 9-13 KJV)
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We really should follow that as a regular habit in our prayers..