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No, you don't need to kneel when you pray. You can pray anytime, anywhere. You just talk to God. You don't need specific ways, phrases, words, positions...just talk to Him as if you were talking to your earthly father. He IS your Heavenly Father, and would like you to talk to Him just as much.
When Jesus taught us how to pray, He never mentioned about positions. You can pray in whatever way makes it easiest for you to focus your attention and self to God, whether that be sitted, standing, kneeling or lying down. As long as you are approaching God with an open heart, then that is all that matters. He wants to have a relationship with you; He is not concerned about formalities about how you are positioned when praying.
When speaking to the president of one's country, a certain posture is needed. Stand straight, express your greetings, speak clearly, listen attentively and appreciate the time he spent talking with you. It is improper to slouch, murmur or speak while half-awake. When speaking to one's parents, the same etiquette is given. Anything less is unappreciative, or worse, rude. Now how much more if one is speaking to the Master and Maker of the Universe, Giver of Life? Does one have to kneel? I believe the proper posture is not to kneel, but to prostrate oneself.
Matthew 17:14, Matthew 20:20, Mark 1:40, Acts 7:60, Acts 9:40, These are just a few references to kneeling in the New Testament. Kneeling shows the ult-most reverence and submission, I "and I say I" think that we should always be in Prayer in all matters, in all positions, when it comes to worship and prayer or prayer with supplication we should show the reverence deserved. Again that's my view and opinion.To God be all Glory...
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