There is one principle requirement for access to God. Access is still available only through the blood atonement, but the Old Testatment sacrifices ceased in the first century. They ceased because the Messiah came and provided that blood atonement and access to the Father for all people everywhere. We can pray anywhere, anytime, in any position, for any duration, on any subject. Prayer should include praise, worship, thanksgiving, and requests.
Prayer is an exercise of faith.
Such prayer pleases God and brings results.