yunir,
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I think it is innate for humans to perform prayers deity-based or otherwise. But overtime, some people overcome this innate behaviour through rationalization.
What came first the concept or the action? Is any type of prayers seen in any part of nature, human or non-human? Did some people overcome their innate behavior or was it their programming in the belief in prayer? From my observations and discoveries, I think it is easier to overcome programming over innate behavior (human nature).
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you posed the question "If a child was born with no concept of prayer, would he or she ever feel the inclination to pray?"
I would think yes. But how the prayer is done and to who or what would probably be entirely up to the child's own worldview. It's just my thoughts anyway.
I would disagree that at least most humans would not need or believe in prayer without outside stimulus. I think that prayer is not a natural human instinct, but a programmed belief. I will agree that at least a few humans may come up with the concept of prayer, superstitions and/or charms through their use of imagination to figure answers to certain unanswered questions and problems. I think this is why there are so many forms of prayer, superstitions and charms in our world. Humans have quite the imaginations. Examples : various deities, dragons, vampires, 4 leaf clovers, black cats, goblins, zombies, broken mirrors, witches, elves, unicorns, voodoo, salt over the shoulder, Santa, angels, Adam & Eve, evil spirits and so on. Oh yah, don't forget Scientology.
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I think this is one scientific question that will probably remain unanswered. We can seclude a child from the world and see how that child behaves, but that would be inhumane.
I agree that it would be inhumane (possibly not, but this would be a whole other discussion on morals), but it sure would help to answer a lot of questions about human nature, society, programming and human hierarchy. Castlevania and I were talking about this same idea with the concept of deities and religion a month ago
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Hmm maybe we can use clones??

Boy this would open up a whole bag of worms.
Thanks,
Andrew