Sefer Ha’mitzvos Ha’Katzar (the concise book of mitzvos)
By the Chofetz Chaim
This book lists the Torah mitzvos that can be observed today
First Section – the Positive Commandments
7. It is a positive commandment to pray everyday to Hashem, the Blessed One.
As it says in Devarim (Deuteronomy) 6:13, “And to Him you shall serve.” And from the Oral Law, our Sages of blessed memory learned (from Gemara Ta’anis page 2a) that this service is prayer. As it says in Devarim (Deuteronomy) 11:13, “And you shall serve Him with all of your heart.” And which is the service of the heart – it is prayer.
And this commandment is that a person should say the praises of Holy One Blessed Be He, and after that ask for his needs, and after that give praise and thanks to the Holy One Blessed Be He. And it is necessary to pray with concentration of the heart, to turn his heart away from all other thoughts, and see himself as if he is standing before G-d. And he should not make his prayers like one that is carrying a burden and he throws it off and can walk on his way. Also, he should not pray with a troubled and confused mind.
This applies everywhere, all of the time, for men and for women.