אדני באזני דבר עבדך נא ידבר אדני בי ויאמר יהודה אליו ויגש” (יח מד) “כפרעה כמוך כי בעבדך אפך יחר ואל
The Midrash (Bamidbar Rabbah 93 6) explains that when he came before Yosef, Yehudah prepared for three things: for appeasement, for war and for prayer. But while his approach for appeasement and war is explained in the passuk, as Rashi explains on those words, where do we find that he prayed?
Rabi Elazar Azkari, author of sefer Chareidim, explained:
When he said to Yosef “bi adoni yedaber na avdecha davar b’oznei adoni,” Yehudah also had in mind to offer a tefillah to Shamayim as follows: “bi Adoni” – please, Master of the world, “yedaber na avedecha davar” – that should be accepted “in the ears of my master” – Yosef, the master of Egypt, because “Lev melech beyad Hashem al kol asher yachpotz yatenu, the heart of a king is in the Hands of Hashem, wherever He wishes, He turns it” (Mishlei 21:1).
Chareidim Al HaTorah