The theology of creation and the theology of the Resurrection (which includes and ratifies Incarnation) demand that prayer should be expressed in a bodily form, involving all the dimensions of bodily expression. The spiritualization of the body calls for the embodiment of the Spirit, and vice versa. Only in this way can man and the world be 'humanized', which means that matter is brought to its spiritual capacity the Spirit is expressed in the wealth of creation. (The Feast of Faith, 71)
St. Thomas doesn't explicitly discuss the use of bodily gestures in prayer? But his teachings could be accommodated to it.