What is happening when you are davening? The Shulchan Aruch (98:1) says that you should just concentrate on the plain meaning of the words that are coming out of your mouth. Consider yourself to be standing in the Divine Presence and remove all extraneous thoughts from your mind so that your prayer should be pure. Keep in mind how carefully you would arrange your words if you were standing before a powerful earthly leader. (98:3) Express your prayers as someone who is destitute and has an audience with someone who has the ability to give you everything you need; this is not a bother, but an incredible opportunity.Note: All references to simanim in Shulchan Aruch are in Orach Chaim.
I have a little experience with this. I once worked as the radiation physicist in a hospital that had very antiquated treatment planning facilities. I was granted a 15 minute appointment with the president/CEO/head honcho of the hospital to explain the need and give my recommendation for how to rebuild the department. In those 15 minutes, I would have to explain the problem, propose a solution, and give him a budget. You can imagine how I felt walking in to his office and making my well prepared presentation. I couldn't waste time, so I chose my words very carefully. I spoke at a normal pace, not rushed, but efficient. I was in the waiting room to his office well before the meeting time. In fact, I left for work early that morning both to be sure I was not late and so I could drive calmly before the morning rush hour traffic. I got a good night's sleep.
I try to prepare and execute my t'filos the same way, especially for the first prayer service of the day. I am dressed in tallis and t'filin at the earliest opportunity, so as not to be late. I actually start פסוקי דזמרה a few minutes early, so I can say them without rushing. Where did I come up with this idea to say פסוקי דזמרה carefully and with thought? Shulchan Aruch 51:8 -- Don't say פסוקי דזמרה in a rush, but calmly. The Mishna Brura (sk 20) comments: So you shouldn't skip one word nor swallow part of it, rather each word should leave your mouth the way one counts money. The Dirshu Mishna Brura (in note 23) brings from the sefer קב הישר that the Beis Din Upstairs will find a person in contempt for not saying the words of פסוקי דזמרה carefully and completely.
What if a person does, though, get to shul late, chas v'shalom? The Shulchan Aruch (52) lists the critical elements of פסוקי דזמרה and gives guidance and what can be skipped, if -- chas v'shalom -- necessary. However the Mishna Brura brins from the Be'er Hei'tiv who quotes the Arizal that doing so messes with the צנורות/pipes that conduct our t'filos heavenward. He also reckons with a Zohar that says not to skip at all unless absolutely necessary. I am not a plumber, but I am a bike enthusiast. I think of פסוקי דזמרה as the vehicle that transports your prayers through the spiritual channels. There are parts of a bike you can do without -- the handlegripes and fenders, certainly. Having no seat would work, but very uncomfortable. You might be able to squeak by with only one set of brakes and one pedal and no tires, but it wouldn't be fun. On the other hands, you certainly need a chain, handlebar, and wheels.
So if it ever happens that you might run late for shul... just picture that bike and what you are left with to transport your prayers. On the other hand, picture the possibilities that can be realized through your t'filos properly presented and delivered. You might want to rethink your priorities.
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