I would start by just talking to Hashem without the siddur. Hashem hears and listens when you talk to Him regardless if it's Shemoneh Esrei or your own version. Just start talking to Him. Include Him in your private conversations and start working on your relationship with Him. That is what it's truly about. Building up a relationship with Hashem.
When you have a working relationship with someone and talk to her/him every day, is it so hard for you to ask something of her? Would you help me with...? Can you pick something up for me when you...?
Start small and make a point of being in a secluded place and TALK TO HIM!!! This is considered tefillah as well according to many poskim and to some you are even yotzeh with it. If you keep talking to Him about your daily issues etc. it will start to become easier to daven properly as well.
Another idea is to start learning Peirush Hamilos of tefillah on a basic and then advanced level.
Hope this helps,