Should I pray for marriage restoration after infidelity?

You should pray for restoration. Seeking restoration is a major way to mimic the Lord Jesus. After all, He sought after us to restore our relationship with Him, and He compares that relationship to a marriage. In fact, when asked if divorce was lawful for any reason, Jesus answered His question by commenting on how God intended marriage to be before commenting on divorce directly. 

Jesus said in Matthew 19:4-6, 

"…Have you not read that He who made them at the beginning made them male and female, and said, 'For this reason, a man shall leave his father and mother and be joined to his wife, and the two shall become one flesh?’ So then, they are no longer two but one flesh. Therefore what God has joined together, let no man separate.” 

The man's argument to Jesus' response was that Moses allowed for divorce in the Old Testament. Jesus replied that it was only permitted in that instance due to the hardness of their hearts but that from the beginning, it was not so. (See Matthew 19:8.) Sin always interferes with relationships, whether between man and wife or between a person and God. Forgiveness in both cases is the only way to find true peace and restoration.