My sheep hear my voice, and I know them, and they follow me: (John 10:27)
Prayer should not be a monologue (a one-way conversation). Instead it should be a dialogue between us and God. We talk, then sit, get quiet and expect God to speak to us. His voice only becomes familiar to us as we take the time to develop a relationship with Him. When we were born again, God placed a deposit of his Holy Spirit within all of us (Romans 8:9). With the presence of God and the Holy Spirit inside us, we are able to receive the help we need to pray and hear what the Heavenly Father is saying to us.
The Bible is filled with examples of common, ordinary people who heard the voice of a mighty God who speaks to them. The end result of these encounters with God was changed lives.