Oh come, let us sing to the Lord! Let us shout joyfully to the Rock of our salvation. Let us come before His presence with thanksgiving; Let us shout joyfully to Him with psalms. Psalm 95:1-2
******************************
This psalm is the basis of the Te Deum Laudamis, which is part of both the Lutheran and Roman Catholic Order of Matins, a morning church service. This verse serves as the opening lines:
“Oh, come let us sing unto the Lord! / Let us make a joyful noise to the Rock of our salvation!”
I went to a Lutheran grade school. Every Wednesday morning was a chapel service. Pastor Beuschline spent several weeks teaching us about each part of Matins; what it meant and its purpose.
Matins still exists in our hymnal, but churches too often print customized liturgies in the bulletin instead of using a traditional liturgy. I miss Matins!
It is so familiar, so ingrained in my memory that I can use those familiar words and songs as my basis for praise, repentance, and the rest. I don’t have to struggle with choosing the right words or reading something unfamiliar in the bulletin.
That’s me. However you worship, whatever means you use, sing to the Lord and make a joyful noise to Him!
Jeffrey H. King's Blog 
For this same reason, I like to read (and pray) prayers written by dear friends of God: people like St. Ignatius, St. Francis of Assisi, and Mother Teresa. I am not catholic, but find the words of these true believers often express my heart’s cry.