The Bible is full of wonderful inspired prayers. Each prayer in the Bible is different; each one was designed and offered to fit a different need. Some prayers are short, some long. Some are very personal, some more public. Some prayers, like the Psalms are very devotional. The prayers of Paul are very doctrinal. I think all of the inspired prayers of the Bible can be a great aid to your prayers. Let the Holy Spirit show you which ones He wants you to use to help you in your prayers.
Generally, I see that there are two ways Biblical prayers can be used to aid our prayers: (1) they may put us in the right mood for prayer; and (2) they can be used to instruct us and tutor us in prayer. Therefore, when we read and meditate on a Biblical prayer we invite the Holy Spirit to teach us how to pray. If we are submissive to Him He will put us in the mood for prayer, give us a teachable heart, and then teach us from the prayer how to form our own prayer.
As we meditate on Biblical prayers, they show us not only the mechanics of prayer and how to form prayers, they will come alive to us and will pray for us (Heb. 4:12). If we are yielded to the Spirit they will show us God’s heart, what His will is, and what He wants us to pray.
Inspired prayers will also show us our own heart. They will be as a mirror to our heart. The words we find in Biblical prayers may express how we feel better than we could ever express. They will show us what our heart is really like and what we really need and desire; for God, who speaks to us through all of scripture and through Biblical prayers, knows what we need and what we should pray for better that we do. Hebrews 4:12 says, “For the word of God is living and powerful, and sharper than any two-edged sword, piercing even to the division of soul and spirit, and of joints and marrow, and is a discerner of the thoughts and intents of the heart.”