A person who reads Scripture is even more frequently led to prayer than to meditation. The prayers are as short, usually, as they are more frequent. As you are reading, you will feel an inclination to speak to God about what you are reading. At various times, you will be led to every form of prayer, praise, petition, and intercession. Each time is a grace of the Holy Spirit.
Sacred reading is a threshold to prayer.
Yes, reading the Bible will teach you how to pray. The contemplative moment of lectio divina is an experience of illumined consciousness. It is a heightened awareness of God. It is a brief time when you are totally occupied in being lovingly aware of God. Contemplation is not a rapture, not an irrestistable ecstasy.