These two phrases mean the same thing and imply that God responded favorably to their prayer. Alternate translation: "God responded favorably to their prayer, which he heard in heaven, the holy place where he lives" or "God, who lives in the holy heaven, heard their prayer" (See: [[rc://en/ta/man/translate/figs-parallelism]])
This can be stated in active form. Alternate translation: "God heard their voice" or "God heard what they said to him" (See: [[rc://en/ta/man/translate/figs-activepassive]])