Prayer is nothing more than you talking to Satan...You talk to him mentally and he listens to you...just like you talk to a friend normally, but with respect and politeness, of course.
You can pray Satan just by focusing on him and talking to him, he hears you. I can confirm this from numerous personal experiences, even very serious ones.
If you prefer something more formal: https://joyofsatan.org/Ritual.html
Other methods to tune into him and get in touch with him (which can be done if you are familiar with vibrations and have a few months, about six, of meditation and learning behind you):