No shame in asking for Help

I don't know why I cycle back to this problem all the time.  I go a long time without praying, even though I have such a genuine understanding that prayer really works, and is a comforting experience of communication with my Heavenly Father.  I have no problem praying for group settings, the problem is just praying by myself.  It's the private prayer that I have trouble saying.  I don't want to say lazy, but I guess in a prideful manner, I don't find myself wanting to both The Lord with my problems.  However, the longer I go without prayer, the more pain I carry, and the more alone I feel.  It is not that prayer alone solves my problems.  Prayer gives me peace that my problems are not  eternal.  That I may feel alone, or scared, or disappointment, but that I have no need to fear.  That my Heavenly Father has eternal duties for me, and my duties here are in earth are minimal, short lived, and narrow viewed.  I like to think I have matured over the years, but the truth is I still worry a lot.  I have peace in knowing God is real, that he gives is peace, but I have yet to fully realize that the peace is not this general peace and harmony for everybody, but that I can actually live with this peace and harmony daily when I rely completely in a trusting relationship with God the Eternal Father, and His Son, Jesus Christ.  Can you love someone, and equally have trouble trusting them?  I think you can.  I believe in the healing power of Jesus Christ, I just sometimes don't believe or practice it on myself.  I guess what I am trying to say is that I need to stop trying to be independent, and self reliant, the plan of salvation is depend any on the Savior, as much as I want to grow up, I need to learn to be okay with relying on Christ for help, and for peace.  There is no shame, in asking for help and trying to show trust in the abilities of others.