You should practice meditation for it. Establishing this connection is self- realization. Once you establish this communication, the world becomes infinite. There is no boundaries, since God is infinite. This human body is the only form that is designated by God to make ourselves realize God.
Concentration refers to mental faculty of exclusive attention on an object.
Fix the mind on some object either within the body or outside the body. Fix it there steadily for sometime. This is concentration. One has to practice concentration everyday regularly, in order to focus the instrument of mind on the inner self and thus divert it from our interaction with this worldly aspects. Purify the mind fast, through the practice of right conduct, and then take to the practice of concentration.