A prayer is the act of communicating with a deity (especially as a petition or in adoration) whereas invocation typically means to summon or call forth. For example, you can pray to a deity (which means a God) and ask for help, whereas a priest invokes or calls forth the spirit of said deity.
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Prayer is a form of communication with a deity or spiritual being, typically expressing gratitude, requests, or praises. Invocation is a specific type of prayer that is used to call upon a deity or divine presence to be present or assist in a ceremony or ritual.