Jesus did talk about penance. Penance is more like when you ask forgiveness for your sins, are sorry for the things you've done. Before He died Christ gave his apostles the power to absolve those who ask for forgiveness, and are repentant. When people pray, perhaps it's only Catholics, they offer up their sufferings in union with Jesus' sufferings, works, joy, etc. in reparation for their sins and the sins of the world. Thus in offering up our sufferings we hope that it will lessen our time in Purgatory.
Many non-Catholics have a misconception that we are praying to Mary or to saints. We are actually asking for their intercession, (asking Mary or the saint) to pray to Jesus for us. It is kind of like when you ask a friend or a relative to pray for you, or you tell someone that you will pray for them. Since Mary and the saints are closer to Jesus, He may act quicker to come to our help. However, I wouldn't ask or tell a non-Catholic that they NEED and SHOULD pray to Mary. It's up to the individual and their beliefs.
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