For me, prayer is a lifting up of the heart, a simple glance towards Heaven, a cry of gratitude and love in the midst of trial as well as joy. It is something great, supernatural, which expands my soul and unites me to God.
If you maintain a feeling of compassion, loving kindness, then something automatically opens your inner door. Through that, you can communicate more easily with other people. And that feeling of warmth creates a kind of openness. You'll find that all human beings are just like you, so you'll be able to relate to them more easily. That gives you a spirit of friendship.