From the Shorter Catechism

Q. 100. What doth the preface of the Lord’s Prayer teach us?

A. The preface of the Lord’s Prayer, which is, “Our Father which art in heaven,” teacheth us to draw near to God with all holy reverence and confidence, as children to a father, able and ready to help us; and that we should pray with and for others. Matt. 6:9; Rom. 8:15; Luke 11:13; Acts 12:5; 1 Tim. 2:1-2.