There are many ways to pray and petition God. Do not overlook – supplication.
The Word supplication in English is defined as a noun, however in Latin, it is a verb, supplicare, which means “to plead humbly.” (Vocabulary.com) According to the KJV Word Study Bible it signifies a petition for favor or mercy. Supplication in Hebrew means: petition, appeal, litany, mercy, request, invocation, outcry, plead, implore.
I hope this study will strengthen your prayer life as it has mine over the years. We must come humbly to the throne of God in prayer and supplication.
Read this study. Source: What is a prayer of supplication?