Romans 12:1: “I appeal to you, therefore, brothers, by the mercies of God, present your bodies as a living sacrifice, holy and acceptable, which is your spiritual service of worship.” So all of our bodily life done in love for other and in reliance upon God display the worth of God above all things and make us worshipers in our daily life.
The inner essence of worship is to know God truly and then respond from the heart to that knowledge by valuing God, treasuring God, prizing God, enjoying God, being satisfied with God above all earthly things. And then that deep, restful, joyful satisfaction in God overflows in demonstrable acts of praise from the lips and demonstrable acts of love in serving others for the sake of Christ.
Because of our God's unimaginable generosity toward us, God, in all of his glory, chooses to respond to us through our worship. This is the promise—that when we worship God with extravagant love and extreme submission, God will come and commune with us. The promise is not that we will feel great or that our heavy load will be lifted, but that God will come. And when God comes in his own time as a response to our worship, Psalm 96:13 declares, "Let all creation rejoice before the LORD, for he comes, he comes to judge the earth. He will judge the world in righteousness and the peoples in his faithfulness."