Foster encourages us to come to God with our "Simple prayers." We don't need to get our lives all together first, we don't need to make sure we pray right. Like a loving parent, he just want us to come to him with all our crazy self-serving thoughts, frustrations, and selfish requests. He is more than capable of having that conversation with us. Foster says simple prayer is the "prayer of beginning again." I've felt that beginning again with God so many times. Its not until we're willing to be open with God allowing the real condition of our hearts to be exposed that we can start moving forward. Foster makes the point that "the only way we move beyond 'self-centered prayer' (if indeed we ever do) is by going through it, not by making a detour around it." I believe the only way to see our relationship with God grow through prayer is to practice C. S. Lewis' advice and "lay before Him what is in us, not what ought to be in us."
I want to encourage you to come to God in prayer just as you are. Bring all your faults, fears, and failures before the Lord. Cast your cares on him for he cares for you (1 Peter 5:7). This is how we begin the adventure of prayer. This is how we grow in an ongoing relationship with our loving Father.