I made these actions up for our junior primary. They love them!

 

• Heavenly Father, are you really there?
  (Hands in prayer (palms together), look up to sky)
• And do you hear and answer every child's prayer?
  (Cup your ear)
• Some say that heaven is far away.
  (Put hand to forehead, shield eyes and look far away)
• But I feel it close around me as I pray.
  (Hug yourself)
• Heavenly Father, I remember now,
  (Point index finger to your temple)
• Something that Jesus told disciples long ago.
  (Shake index finger)
• Suffer the children to come to me.
  (Motion with both hands: "come")
• Father, in prayer I'm coming now to thee.
  (Fold arms in prayer and bow head)

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• Pray, He is there.
  (Clasp hands in prayer (interlock fingers))
• Speak He is listening.
  (Cup hands around your mouth)
• You are his child.
  (Point to a person facing you)
• His love now surrounds you.
  (Cross arms on chest in an X)
• He hears your prayer.
  (Cup your ear)
• He loves his children;
  (Use hand, palm down, to pat 3 pretend heads (a sign language motion))
• Of such is the kingdom, the kingdom of heav'n.
  (Holds hands up and out, about shoulder level (to heaven all around us))