There's a place for thanksgiving, praising, petitions, prayers, etc but also God is a Spirit: and were to worship Him in spirit and in truth. (John 4:24).
We connect when we get before Yahweh alone and spend time in private worship in our prayer closet (Matt 6:6).. Primarily, were just spending time meditating (doesnt mean emptying your mind, it means focusing) on Yahweh and His Word such as Psa 145 about who He is. Sometimes play music thats just about Him. Or get a list of His titles, names and attributes.
Locate a list that has Scripture listed so they can be checked out.
Then think about 2-3 of those at a time. While listening for His still, quiet voice...