There is a strong relationship between Tefilla (prayer) and Teshuva (repentance). Teshuva and Tefilla are both about being close to Hashem not just in proximity, but rather in integrating Hashem in us and mimicking Him. How do we achieve this closeness? The key is in our Daas, knowledge. When we develop in ourselves the same understanding and knowledge as Hashem and exhibit it by acting with His thirteen attributes of mercy, then we will have an internal closeness.