In his epistle to the Romans, the Apostle Paul commands that believers continue "instant in prayer" (Romans 12:12).
Rather than viewing prayer as merely an exercise for ritualistic times and places, the New Testament calls born again Christians to view our communion with God in terms of a 24/7 readiness to respond when opportunity presents itself. Certainly this does not preclude set times and places for prayer, so long as such seasons aren't viewed as more holy or important than prayers offered in the midst of our everyday experience.
"The hour cometh, and now is, when the true worshippers shall worship the Father in spirit and in truth. For the Father seeketh such to worship Him. God is a Spirit, and they that worship Him must worship Him in spirit and in truth" (John 4:23-24).
The Lord Jesus Christ removes prayer from the constraints of time and space in His declaration that spirit and truth provides the environment in which genuine relationship between God and man occurs. Anywhere, any time, any place - this is the sense and sensibility of prayer made possible to believers through the gift of the permanently indwelling Holy Spirit to our hearts. When matters come to mind, be they blessings, challenges, the needs of others and ourselves, or the desire to express our hearts to God regarding whatever may be in our hearts, we remember that the Lord Jesus has paved a clear path to the throne of grace for "continuing instant in prayer." "Having therefore, brethren, boldness to enter into the holiest through the blood of Jesus... let us draw near with a true heart, in full assurance of faith" (Hebrews 10:19:22).
Our Lord is with us always, to the degree that He is within us. We need not wait - we must not wait - for place, situation or time to raise our hearts to Him. Our spirits are His temple wherein the altar of prayer continually offers opportunity to commune with the Life of our lives. Much was sacrificed to make this sublime gift possible. Let us remember with much reverence and rejoicing, and most of all, let us pray.
"Pray without ceasing."
(I Thessalonians 5:17)