Here is a great quote from a book Bonhoeffer wrote on the Psalms. Don't passover it quickly!
“The child learns to speak because his father speaks to him. He learn the speech of his father. So we learn to speak to God because God has spoken to us and speaks to us. By means of the speech of the Father in Heaven his children learn to speak with him. Repeating his own words after him, we begin to pray to him.” - Dietrich Bonhoeffer