Prayers are to God, not man. We need to approach Him with a sincere heart putting all distracting thoughts out of our minds. Focus on God, not man. We shouldn’t compare our prayers to others.
Proverbs 29:25 “The fear of man bringeth a snare: but whoso putteth his trust in the LORD shall be safe.”
Psalms 118:6 “The LORD is on my side; I will not fear: what can man do unto me?”
Whether you are praying in front of believers or non-believers, such as at a restaurant, praying at a Bible Study or with the family, you should pray appropriately for the occasion. Jesus had time for personal prayer (Matthew 14:23). Other times he had short prayers when thanking the Lord for food. (Matthew 14:19) If we are nervous in front of others we can start with little steps by praying in a smaller gathering or with the family or a good Christian friend. Make sure you always have time for private prayers.
It takes courage to live the Christian life. Picture yourself succeeding. We can’t do it in our own strength but must become familiar with his promises. “The Lord will give strength unto His people; the lord will bless His people with peace.” Psalms 29:11 “Be of good courage and He shall strengthen your heart all ye that hope in the Lord.” Psalms 31:24