We know God hears our prayers because of His promises and past acts of deliverance, such as responding to the cries of the Israelites in slavery (Exodus 2:24).
The confidence in God's responsiveness to our prayers stems from His covenant faithfulness and historical acts of mercy. For instance, Exodus 2:24 shows that God heard the groaning of the Israelites in slavery and remembered His covenant with Abraham. This exemplifies God's attentive ear to His people and reassures us today that He is still inclined to listen to our pleas for deliverance from our struggles. Just as He responded to Israel, He remains faithful and ever-present, ready to hear and act upon the prayers of His people.
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