Does God Speak to Us in Prayer?

Dr. Jay Adams has written a fine book on guidance titled, The Christian's Guide to Guidance: How to Make Biblical Decisions in Everyday Life.  A summary of the book can be found in a blog post he wrote here. One question that he addresses is, "What is the place of prayer in seeking guidance?"
Dr. Adams is critiquing a Sunday School lesson he heard once and says,
     "His idea (a very common one, unfortunately) was that when you pray, you must be still and listen for some sort of answer from God. If that is true, why were the Israelites to consult the Urim and Thummim (Numbers 27:21)? Moreover, if God whispers answers in stillness, why bother with (Scripture)? Such replies would be better even than Scripture since they would be in English (we wouldn’t have the translation problem from Greek or Hebrew), and they would be directly applied to our individual situations. No, any such idea, even ideas of deep impressions or feelings received in prayerful waiting, must be eliminated, since they would render the Bible’s teaching either unnecessary or negligible. You would also face the problem of distinguishing impressions from God from those that arise out of your own prejudice. Prayer to discover the Lord’s will should be that you may understand and use the Bible in a proper way. It should be prayer for ability and strength to do whatever you discover God wants of you as you study the Scriptures. We are not given the Urim and Thummim for our day, but we have been given an inerrant and infallible Book, which contains all we need by way of precept and example for living a life pleasing to God. All that is necessary to love God and our neighbor is found, in one form or another, in the Bible. Today we consult God by turning to His written Word."

We speak to God in prayer and God speaks to us in the Bible.  The Bible does not encourage us to "listen to God" while praying.  That would entail extra-biblical revelation and is not something we should seek since the days of prophets and apostles has ceased.  If you want to hear "God's voice" or get "God's guidance" then read Scripture, meditate on it and pray for wisdom based upon what has revealed in His written Word.