Hi,
"The root of prayer is in heartfelt joy in one's relationship with Gd, as it is written (Divrei haYamim I 7:10), 'Praise His holy Name; may the heart of those who seek Gd be glad.' This is why David, king of Israel, played his lyre in all of his prayers and songs - in order to fill his heart with joy in his love of Gd."
(R' Yehudah haChasid, Sefer Chasidim 18)
Have a great day,
Mordechai
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