We can let the emotions and the rhythm of our thoughts take shape, take tangible shape, this way. I'm not a very good poet myself, but when I pray, I feel that I could be. We can also use writing to channel and discipline our prayers. Many people find that writing a journal helps them to say the things which seem too difficult, or too fearful, to share in any other way. Spiritual journals are definitely a form of prayer.
Prayer can also take the form of action .
Washing each others' feet is one way mentioned in the gospel. Service to our neighbor. Caring for people. I know people who pray while they're ironing. I've done a lot myself while I've been splitting wood.