What belongs to a prayer which pleases God and is heard by Him?

First, we must from the heart call upon the one true God only, who has revealed Himself in His Word, for all that He has commanded us to pray. Second, we must thoroughly know our need and misery, so that we may humble ourselves before God. Third, we must rest on this firm foundation that, although we do not deserve it, God will certainly hear our prayer for the sake of Christ our Lord, as He has promised us in His Word.

Scripture proofs King James Version

Ps. 145:18-20 The LORD is nigh unto all them that call upon him, to all that call upon him in truth. He will fulfil the desire of them that fear him: he also will hear their cry, and will save them. The LORD preserveth all them that love him: but all the wicked will he destroy.
John 4:22-24 Ye worship ye know not what: we know what we worship: for salvation is of the Jews. But the hour cometh, and now is, when the true worshippers shall worship the Father in spirit and in truth: for the Father seeketh such to worship him. God is a Spirit: and they that worship him must worship him in spirit and in truth.
Rom. 8:26, 27 Likewise the Spirit also helpeth our infirmities: for we know not what we should pray for as we ought: but the Spirit itself maketh intercession for us with groanings which cannot be uttered. And he that searcheth the hearts knoweth what is the mind of the Spirit, because he maketh intercession for the saints according to the will of God.
James 1:5 If any of you lack wisdom, let him ask of God, that giveth to all men liberally, and upbraideth not; and it shall be given him.
I John 5:14, 15 And this is the confidence that we have in him, that, if we ask any thing according to his will, he heareth us: And if we know that he hear us, whatsoever we ask, we know that we have the petitions that we desired of him.
Rev. 19:10 And I fell at his feet to worship him. And he said unto me, See thou do it not: I am thy fellowservant, and of thy brethren that have the testimony of Jesus: worship God: for the testimony of Jesus is the spirit of prophecy.
II Chron. 7:14 If my people, which are called by my name, shall humble themselves, and pray, and seek my face, and turn from their wicked ways; then will I hear from heaven, and will forgive their sin, and will heal their land.
II Chron 20:12 O our God, wilt thou not judge them? for we have no might against this great company that cometh against us; neither know we what to do: but our eyes are upon thee.
Ps. 2:11 Serve the LORD with fear, and rejoice with trembling.
Ps 34:18 The LORD is nigh unto them that are of a broken heart; and saveth such as be of a contrite spirit.
Ps 62:8 Trust in him at all times; ye people, pour out your heart before him: God is a refuge for us. Selah.
Is. 66:2 For all those things hath mine hand made, and all those things have been, saith the LORD: but to this man will I look, even to him that is poor and of a contrite spirit, and trembleth at my word.
Rev. 4
Dan. 9:17-19 Now therefore, O our God, hear the prayer of thy servant, and his supplications, and cause thy face to shine upon thy sanctuary that is desolate, for the Lord’s sake. O my God, incline thine ear, and hear; open thine eyes, and behold our desolations, and the city which is called by thy name: for we do not present our supplications before thee for our righteousnesses, but for thy great mercies. O Lord, hear; O Lord, forgive; O Lord, hearken and do; defer not, for thine own sake, O my God: for thy city and thy people are called by thy name.
Matt. 7:8 For every one that asketh receiveth; and he that seeketh findeth; and to him that knocketh it shall be opened.
John 14:13, 14 And whatsoever ye shall ask in my name, that will I do, that the Father may be glorified in the Son. If ye shall ask any thing in my name, I will do it.
John 16:23 And in that day ye shall ask me nothing. Verily, verily, I say unto you, Whatsoever ye shall ask the Father in my name, he will give it you.
Rom. 10:13 For whosoever shall call upon the name of the Lord shall be saved.
James 1:6 But let him ask in faith, nothing wavering. For he that wavereth is like a wave of the sea driven with the wind and tossed.

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Edition & Source Public domain

Source: The Heidelberg Catechism
Translation: English translation as published by apuritansmind.com; Scripture proofs: King James Version
Published: First published 1563
Original URL: apuritansmind.com/creeds-and-confessions/the-heidelberg-catechism-by-zacharias-ursinus/
Copyright: Public domain.
License: Public domain
Attribution: Public domain. Text transcribed from apuritansmind.com, which reformed.org's historic-documents index links to. Compared automatically with the PDF at heidelberg-catechism.com, which is the same translation family: 217 of 258 questions and answers matched. Of the 41 that did not, I checked 18 by hand: Q12, Q18, Q27, Q56 and Q61 differ in wording, and the others were page-layout noise in the PDF; the remaining 23 were not checked by hand. Not yet proofread against a printed edition. Part divisions are the standard ones (Q1–2 introduction; Q3–11 misery; Q12–85 deliverance; Q86–129 thankfulness). The question 23 creed text had verse-number markers removed. Scripture proof texts are the King James Version, from the public-domain Project Gutenberg edition, added with tools/add_kjv.py. A few references could not be matched to verses (whole-chapter references such as ‘Genesis 1 throughout’, and typing slips in the source) and are shown without text.

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Cite as The Heidelberg Catechism. First published 1563. https://www.apuritansmind.com/creeds-and-confessions/the-heidelberg-catechism-by-zacharias-ursinus/