How does God want us to pray so that He will listen to us?
First, we must pray from the heart to no other than the one true God, who has revealed Himself in His Word, asking for everything He has commanded us to ask for.
Second, we must acknowledge our need and misery, hiding nothing, and humble ourselves in His majestic presence.
Third, we must rest on this unshakable foundation: even though we do not deserve it, God will surely listen to our prayer because of Christ our Lord. That is what He promised us in His Word (The Heidelberg Catechism #117).