What is the kind of prayer that pleases God and that he listens to?

First, we must pray from the heart to no other than the one true God, revealed to us in his Word, asking for everything God has commanded us to ask for.¹ Second, we must fully recognize our need and misery, so that we humble ourselves in God's majestic presence.² 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 God promised us in his Word.³