Romans 8:15-16, 26

For you have not received a spirit of slavery leading again to fear [of God’s judgment], but you have received the Spirit of adoption as sons [the Spirit producing sonship] by which we [joyfully] cry, “Abba! Father!” The Spirit Himself testifies and confirms together with our spirit [assuring us] that we [believers] are children of God.

In the same way the Spirit [comes to us and] helps us in our weakness. We do not know what prayer to offer or how to offer it as we should, but the Spirit Himself [knows our need and at the right time] intercedes on our behalf with sighs and groanings too deep for words.