13 Principles of Torah-based Faith that were enumerated by Rambam (Maimonides):
Principle n.5 : I fully believe that I may address my prayer to Him and not to another.
It is not explicitly commanded in the 7 Mitzvot for a Noahide to direct his prayer to G-d. But it is a logical consequence of recognizing the Eternal One who rules all and watches over all.
Needs, thanksgiving may be said by a Noahide in his own words in his own language. He may use verses from the Tenach or a prayer book for Noahides.
Directing one's prayer to something or someone lower than G-d - be it an angel, star, intermediary, is idolatry.
One question people sometimes ask is whether they can recite The L-rd's Prayer because it refers only to G-d and not to anyone else. The answer is: no.
Using a prayer - even though it appears to be addressed only to G-d - from a religion undermines the eternal covenant G-d made with Abraham and the Torah given at Sinai. Even though one might recite a prayer of any religion for the sake of G-d alone, nevertheless, the liturgy of idol worshipers is an abomination to G-d.
Brought By Angelique Sijbolts
Angelique Sijbolts is one of the main writers for the Noahide Academy. She has been an observant Noahide for many years. She studies Torah with Rabbi Perets every week. Angelique invests much of her time in editing video-lectures for the Rabbis of the Academy and contributes in administrating the Academy's website in English and Dutch. She lives in the north of the Netherlands. Married and mother of two sons. She works as a teacher in a school with students with special needs. And is a Hebrew Teacher for the levels beginners en intermediate. She likes to walk, to read and play the piano.
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