“Prayer is simply a reaching out to make contact with a Power greater than ourselves.” (ODAT, 2 May)
Petition.
Tell.
Thank.
You don't need a book on it.
The people who write the books on it don't know how to do the above so they have to make up procedures.
Don't fall for it!
I discovered I can ask God for things, I can tell God things, and I can ask God for things without any special instructions, positions, breathing, etc.
A few basic tips suffice: don't ask for selfish things; don't ask for wicked things.
But even if you don't have those tips, if you're sincere you'll work it out.
I find the above utterly satisfactory and better than any procedures I have ever tried to adopt.
Good old Al-Anon knows this simple truth.