Can we pray to Guardian Angels?

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I have always wondered about this-does each person have a Gaurdian Angel? Can we pray or talk to our Gaurdian Angel? Can we pray to other people’s Gaurdian Angels?

Thanks!
 
To yours, sure. There’s actually a partial indulgence for saying this guardian angel prayer:

" Angel of God, my Guardian dear,
To whom His love commits me here;

Ever this day be at my side,
To light and guard, to rule and guide.
Amen."

Also you can reach out to your children’s guardian angels too.
 
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Okay, thank you! That is a nice prayer. Do you think I could pray to my parent’s or my sibling’s Gaurdian angels?
 
Right there in the Compendium of the Catechism of the Catholic Church:
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Latin:
Ángele Dei,
qui custos es mei,
me, tibi commíssum pietáte supérna,
illúmina, custódi,
rege et gubérna.
Amen.
English:
Angel of God,
my guardian dear,
to whom God’s love commits me here,
ever this day be at my side,
to light and guard, to rule and guide.
Amen.
I prefer this longer version I snagged from a copy of the Roman Sacramentary, to be prayed in the morning upon rising:
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Latin:
Ángele qui meus es custos, pietáte supérna: me tibi comíssimum, salva, defénde, gubérna. O tu dulcis ángele, qui mecum moráris, licet personáliter mecum non loquáris, ánimam cum córpore precor tueáris, tuum hoc est offícium, ad quod assignáris.

V. O beáte ángele, nunti Dei nostri.
R. Actus meos régula ad votum Dei altíssimi.

Orémus.

Deus, qui sanctórum angelórum tuórum áliquos tibi benígne concédis assístere: et áliquos iubes hic in terris homínibus misericórditer ministráre, concéde propítius: sic ángelum mihi comíssimum ad custódiam me in bonis dirígere, ad virtútes assídue excitáre, et a peccatórum vorágine potentíssime liberáre, quaténus in dístricto iudício quando fiet unum óvile hominum ac étiam angelórum, sub tanto pastóre mérear inter sui gregis pécora numerári. Per Christum Dóminum nostrum.

R. Amen.
English:
O my Guardian Angel, save me, defend me, and govern me, who was committed to thee by heaven above. O thou sweet angel, who lingers here with me, though thou canst not speak with me, my body and soul I pray thee to keep. This is thy duty to which thou art assigned.

V. O blessed Angel, messenger of God.
R. Direct my actions according to the will of God most high.

Let us pray.

O God, who graciously grants some of Thy Holy Angels to assist Thee, and mercifully bids others here on earth to minister to men, graciously permit the angel committed to me as my protector to direct me in good things, to constantly rouse me to virtue, and to free me from that most powerful abyss of sin, so that at the final judgment when the sheepfold of men and angels will be one, under such a shepherd as he may I be found to be deserving to be numbered among his flock. Through Christ our Lord.

R. Amen.
 
I also try to pray this daily after my day and night prayers after prayers to god and the saints and when feeling temptation is near.
 
Yes, you can pray to your guardian angels and you can pray to other people’s guardian angels.
 
For those raised Catholic the prayer to the Guardian Angel ranks among our earliest prayers learned!
 
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