Absolutely! Children are easily trusting in what their God-knowing parents teach them, so saying prayers before meals and at night time, maybe saying an already prescribed and special prayer, but ending with just talking with our Father, being natural as the child would with his or her parents...focusing on saying Thank you for all one has in life, etc..
For starting late as an adult, Goddiscovered on this site clearly gives us the 6 steps to learning how to communicate with our Father. He WANTS us, too!!!
My story, while not exciting, is the Absolute knowledge and belief that my thoughts and prayers are heard as evidenced in my life. Amen!
Children God father are their parents, indeed, for instance, when we are going to sleep we have to sing and pray as we have a sleep and too in the morning, even eating. Etc
Wonderful understanding! Wow !