The most effective tool I have found for developing an attitude of prayer is the Rosary. It was given by Our Lady to us, for us. Please remember I am speaking as a former Protestant who did not even know what a "Hail Mary" was much less ever prayed one before. I just knew it was a type of play in football. I was 41 before I prayed my first Hail Mary.
The first Rosary I prayed lasted forever or so it seemed, but I muddled through it. Then I started praying the Rosary with Mother Angelica and the nuns at Our Lady of the Angels Monastery on EWTN radio. This really helped me as I could just follow along and become familiar with the new prayers I was learning.
As I prayed, I began to notice something. I could see and feel more of God's grace in my life. I began to have clearer understandings of Catholic teachings and the Holy Scriptures that I had read many times before, were now filled with new life and meaning. I began to realize the power of the Rosary. It released the Grace of God into my life to act according to His Will and to accomplish His Purpose.
The request to "teach us to pray" is a request to enter into the heart and mind of our Savior. The Rosary is an answer to that request by allowing the heart and mind of our Savior to enter into us.