A lot of what Torah is about is laws. The concerns about Torah are mainly about keeping the Law of Moses more that interpretation of the text. But there are also elements of Divine service.
With prayer the hidden self [ding an sich] gets connected with God. It is kind of away to reach one's own essence and tie it to God. And besides that, I have seen enough people that learn Torah that are far from human perfection.
The basic way to do this is to pack a lunch and go off into the wilderness for a whole day and spend the whole day talking with God. If this is not possible then while you are walking down the street is a perfect time to engage in private conversation with God. One good idea about this is that the evil side disguises itself in good deeds. When people convince themselves they are doing some great mitzvah it is usually a heinous crime. The world would be a lot better off if people would stop doing mitzvas and simply be a selfish as possible. The way the evil side gets people is by conniving and convincing them that they are doing some good deed. People doing mizvot is the destruction of the world. The Gra said it is better to sit in your room and twiddle your thumbs than to go about and look for mizvas to do. [See Sidur HaGra.]