The Patriarchs Who Fixed the Three Daily Prayers in Israel

Midrash Aggadah, Genesis 24:63

"And Isaac went out to meditate in the field" (Genesis 24:63). The patriarchs instituted three prayers. Abraham instituted the morning prayer, as it is said, "And Abraham rose early in the morning" (Genesis 19:27). And Isaac instituted the afternoon prayer, as it is said, "And Isaac went out to meditate in the field" (Genesis 24:63); and "to meditate" means nothing but prayer, as it is said, "A prayer of the afflicted, when he faints and pours out his complaint before the LORD" (Psalms 102:1). Jacob instituted the evening prayer, as it is said, "And he encountered the place" (Genesis 28:11); and "encountering" means nothing but prayer, as it is said, "And you, do not pray... and do not entreat Me" (Jeremiah 7:16).

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