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Jews used prayer as a means of expressing their emotions in all conditions and under any circumstances, for happy or sad events, for thanksgiving or to show appreciation. Prayer could and can always be adapted to suit the mood.
Prayer was initiated by our Fathers, Abraham, Isaac and Jacob, to whom our Rabbis relate the origin of the three daily prayers, Shacharit, Mincha, and Maariv respectively.
The second letter of each Hebrew name of our forefathers can tell us which specific prayer is related to each:


Prayer continued throughout every generation. Each had its own problems and its own way of communicating with G-d, for example, the "Song of the Sea" sung by the Children of Israel after the crossing of the Red Sea (Shemot Chapter 15) as a thanksgiving prayer.
But there were no fixed prayers as we know them today.
Later on, during the time of the Temple, the Services were introduced, at first simultaneously with the daily sacrifices, and later replacing them.
This explains the origin of Mussaf additional Service which replaced the additional offering brought in those times on Shabbat, festivals and Rosh Chodesh.
It was only in the time of the return from the Babylonian Exile in 538 B.C.E. that Ezra whom our Rabbis have placed second only to Moses, Led the Jews back to Israel after an exile of 70 years in Babylon. He built the 2nd Temple and introduced many Laws and regulations, a large number of which are still in use today, e.g. the reading of the Torah on Mondays and Thursdays, and during Shabbat Mincha Service. And the Men of the Great Assembly The Great assembly or the SANHEDRIN was the highest Jewish authority of that time. Compiled a set of different prayers based on various quotations from the Bible and the Talmud. This was the origin of the Siddur.
Services developed over the years until the time of the Geh’onim, who were the leaders of the Babylonian and Persian Jews in the 9th and 10th Centuries, when Saadiah Gaon (who died in 942 B.C.E. ) established the text and rules of the Siddur as we know it today.
Naturally, there have been changes and additions. Most of the additions are special poems and prayers, written by Rabbis or great Leaders the community. These became very popular and were established as part of the service, e.g. LECHA DODI - the prayer sung when we receive the Shabbat - which was introduced by Rabbi Shlomo of Tsefat in the 16th Century. Usually because of important happenings which left their mark on the Jewish People, be it in the Middle Ages or in our own generation. For example, the prayer "AV HARACHAMIM" which expressed the terrible times in Eastern Europe during the 11th Century. Or the Prayer for the State of Israel, which is an example of a prayer required owing to important developments over the Last generation. But the main pattern of the Siddur of our times is still based on the original text of Saadiah Gaon.
But the Siddur of today, apart from being one of the oldest text books to be found, is a book which serves us, guides us and reflects our unique, long history. It has been beautifully expressed as "The mirror and soul of Am Yisrael".