Jesus teaches us the words with which to pray. There is also the question of what physical posture we take when in prayer.
The oldest way is what is know as the Orans position. This means holding your hands out, palms up while standing. You will often see the celebrant at Communion praying the Eucharistic Prayer at the altar in this fashion. The Orans position, however, can be used by anyone.
During the feudal period of history, kneeling with one’s palms placed together and in the front of the person became the standard prayer position. This posture was how one gave fealty to the king. The king would then clasp his hands around his servant’s hands, a sign of accepting that person’s fealty.
This form was accepted as a posture for prayer because God is the ultimate king. Kneeling was a sign of giving fealty to God in prayer.
Both forms are acceptable. However, the Orans position is the better of the two. That is in part because it is older, dating back to the early church. It is also the better of the two because, as my faculty advisor in seminary used to say, “We are a resurrected people.” Just as Jesus rose from the grave and ascended into Heaven, we too are lifted up as we pray and speak to God.