Prayer cannot be reduced to the spontaneous outpouring of interior impulse: in order to pray, one must have the will to pray. Nor is it enough to know what the Scriptures reveal about prayer: one must also learn how to pray. Through a living transmission (Sacred Tradition) within "the believing and praying Church," The Holy Spirit teaches the children of God how to pray.
Source: Catechism of the Catholic Church (Vatican.va)