Live it, love it, pray it. Everything we need to know about God's will has already been revealed to us in Scripture. If you want to be able to pray with boldness and to see those prayers answered, you first need to know what God says. When you know, choose to believe it and express faith by living in obedience to it. Then ask Him to fulfill His will in your life and the lives of those around you. It's as simple as that.