in the Bible, we are told to pray in the spirit and in truth
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Jesus Christ, left no doubt about worship that pleases his heavenly Father. While giving a heartwarming witness to a Samaritan woman at a well Jesus said: “You worship what you do not know; we worship what we know, because salvation originates with the Jews. Nevertheless, the hour is coming, and it is now, when the true worshipers will worship the Father with spirit and truth, for, indeed, the Father is looking for suchlike ones to worship him. God is a Spirit, and those worshiping him must worship with spirit and truth.” (John 4:22-24)
Although worship to God must be spirited, or zealous, and motivated by a heart filled with love and faith, worshiping God with spirit especially requires that we have his holy spirit resting upon us and allow ourselves to be guided by it. Through study and application of God’s Word, our spirit, or mental disposition, must be attuned to his. (1 Corinthians 2:8-12)
Jesus acknowledged that his Father’s word is truth, and he also declared: “It is written in the Prophets, ‘And they will all be taught by Jehovah.’ Everyone that has heard from the Father and has learned comes to me.” (John 6:45; 17:17; Isaiah 54:13) Clearly, then, those searching for the truth must be taught by Jehovah, the Grand Instructor. (Isaiah 30:20, 21) Truth seekers need to acquire “the very knowledge of God.” (Proverbs 2:5) And Jehovah has lovingly taught or conveyed the truth in various ways.
Worshipping God in spirit and in truth means that we must realize that the Divine spirit in us is the Soul - the Atman is nothing but God. That's why the Bible says the kingdom of God is within you, the Bible says God lives in the temple of your heart. But we are praying to a God outside, we are praying to God in heaven. We have to realize that God is the very spirit that makes our heart beat, God is the life that is in every human being, every animal, every plant. Then why can't we pray to the spirit that is all around us? All the beauty around us is the Divinity, it is the spirit of the Divine. God manifests as us, as everything around us but we are searching for a God with name and form. While God might have come to planet earth and left, God has remained on earth in everything that breathes - that is the Spirit we must pray to.