Is there a right way to pray? How do you pray? How do you structure it?

Sorry, I’m on a journey to strengthen my relationship with God and I just really need some help. I’m 17 and I’ve grown up being told about Jesus and we went to church but my family never really taught me much and we didn’t live a very “Christian” lifestyle. I want to strengthen my bond with God so I can turn around and help my family too. I also have a 3-year-old brother who I want to help raise surrounded and brought up by Christ.