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The pastor also thanked the Lord for "Sonoco racing fuel and Goodyear tires that bring performance and power to the track."
Nelms also referenced Will Ferrell's character Ricky Bobby from "Talladega Nights" by thanking God for his "smokin' hot wife."
"In Jesus' name, Boogity Boogity Boogity, amen," Nelms said, quoting NASCAR Hall of Famer Darrell Waltrip.
Race winner Carl Edwards said he enjoyed the humor in the prayer.
"I turned to Jack (Roush) after that. I said, 'If anything happens, I want him to be at my funeral.' That was one of the best invocations I have ever heard," Edwards said.