We ourselves are prepared like the incense. Our personal wills are submitted to the Lord's will and we want nothing more than for the King to be glorified as our destiny in Him is fulfilled. Being in agreement comes from a particular mixing of lives and listening to the same voice, rather than just being physically together in one place. We must listen to God for what we should do, rather than telling God what He should do. This place of mixing and fellowship, is like the High Priest taking the mixture from the apothecary shop to the Holy Place where it is put on the altar.
Prayer is an automatic consequence of the mixing of such people.
Come what may, nothing can dissuade them. If they truly have a passion for it, then nothing will deter, obstruct or thwart them. It is an unquenchable passion. In fact, it is the passion of Jesus that is within them. This is because He does not intend that you fulfill your destiny alone.