The Patriarchs Established the Three Daily Prayers

Yalkut Shimoni on Torah 86:1

"And Abraham rose early in the morning" (Genesis 19:27). The patriarchs established the prayers. Abraham established the morning prayer, as it says, "And Abraham rose early" [in the morning]. Isaac established the afternoon prayer, as it says, "And Isaac went out to meditate in the field" (Genesis 24:63), and "meditation" means nothing other than prayer, as it says, "A prayer of the afflicted, when he is faint" (Psalms 102:1). Jacob established the evening prayer, as it says, "And he encountered the place" (Genesis 28:11), and it is written, "And you, do not pray for them, and do not encounter Me" and so on (Jeremiah 7:16).

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