One of course learns to pray with words, but later moves into the realm of silence as the best expression of prayer. Like the exchange of understanding between two friends with no words used, we would have communicated with the Divine in true silence. This also comes from the awareness that prayer is more listening, rather than speaking. True prayer awakens our soul to the indwelling of God and helps us to communicate and be in communion with the Divine.
The more we are able to relate to the power of God within, greater the chance of we becoming more reverential towards things outside of us. That is when we will realize that the power of God envelopes every creature on earth. When we learn to recognize the indwelling of God in everything and everyone, we marvel at the fact that we are all connected. Thus true prayer leads us to true communion.
Another word for true communion with others is love. Love becomes the guiding principle in our lives. We are engulfed by love, when we are enveloped by God. Prayer thus becomes the source of our well being and joy. When everything is part of us, fear vanishes and peace prevails. Prayer, thus, is the true source of joy and peace. Try it daily.