As the other answer says, if you read the preceding you may understand the context a bit more. To answer your question more directly, however, let me refer to Matthew 18:19-20
19 Again I say to you that if two of you agree on earth concerning
anything that they ask, it will be done for them by My Father in
heaven. 20 For where two or three are gathered together in My name, I
am there in the midst of them. (NKJV)
How could humans agree on what to ask for, if not talking about it? If verse 19 were taken out of context, one could argue that we could agree on what to pray about before actually praying, and then have everyone go their separate ways and pray in private. However, note that verse 20 starts with "For..." which explains why agreeing on something is important.
Check out how The Message reads:
18-20 Take this most seriously: A yes on earth is yes in heaven; a no on
earth is no in heaven. What you say to one another is eternal. I mean
this. When two of you get together on anything at all on earth and
make a prayer of it, my Father in heaven goes into action. And when
two or three of you are together because of me, you can be sure that
I'll be there.
Now, I'm not sure if these two verses alone are the entire basis for corporate worship and prayer, but it does give us the idea about praying together at least.