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I think the Yesod to having feeling by Davening is dependent on 3 things,
1. Thorough understanding of what the words mean.
2. A recognition of the fact that you are standing in front of Hashem and talking directly to Him.
3. A feeling of appreciation for what Hashem does for you and provides you with every second of every day. He owes us NOTHING. We owe Him EVERYTHING. Appreciation is the key to unlocking your feelings for Judaism in general. The more you appreciate the gifts Hashem has given you, the more you will feel indebted to Him and want to do His will because of His overwhelming constant kindness to you and your family, friends…