A very good and very tough question.
And the answer is very simple.
You just do it.
Because it's either you want to do it or you don't. Some people are looking for excuses to find time for prayer, something that could happen or something that other people will do to them or a new book that they might read that could lead them to daily prayer. The truth is, those people have all the excuses in the world why they don't. I know some people who, maybe by God's plan, turned to prayer only after they were stricken by terminal illnesses. I guess that is something you/we wanna avoid.
Well, I will tell you this but I'm sure for most of you/us, it won't help: we already have all the excuses in the world to pray more!
Just look around you. Is everything alright? Just look around you, the people immediately around you. Is everything fine? Everyone getting along well?
Anyways, look at it this way. Imagine a guy wanting to court a girl. What does he do? He doesn't just sends flowers or chocolates, or whatever gifts, or show off his hard-earned brand new car to give the impression that he can become a good provider in the future. In spite of his very busy schedule, he has to make an effort to send her text messages, call her up everyday, e-mail her, and so on, on a daily basis. Lest the girl think he's not serious. Bottomline is, he has to communicate with her. He has to show her that he is someone she can be comfortable with for the rest of her life. That he is someone who she can talk to. They need to know each other very well enough before they can live happily ever after. He does all this to find favor with the girl. To be with the girl.
Do you want to be with God?