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I highly recommend Ralph Martin's book "Fulfillment of All Desires" to anyone who wants to learn about the doctors of the Church and their beliefs on this type of prayer, great book and lots of subjects -

St. Francis quote from book

"However, if you have the gift of mental prayer, you should give it first place. Afterwards if you cannoy say your vocal prayers because of your many duties or for some other reason don't be disturbed on that account .... During vocal prayer if you find your heart drawn and invited to interior or mental prayer, don't refuse to to take it up. Let your mind turn very gently in that direction and don't be concerned at not finishing in that direction and don't be concerned at not finishing vocal prayers you intended to say. The mental prayer you substitute for them more pleasing to God and more profitable for your soul."(pg. 125)