Throughout the Bible, acceptable worship means approaching or engaging with
God on the terms that he proposes and in the manner that he makes possible.
It involves honouring, serving and respecting him, abandoning any loyalty or
devotion that hinders an exclusive relationship with him. Although some of
Scripture's terms for worship may refer to specific gestures of homage,
rituals or priestly ministrations, worship is more fundamentally faith
expressing itself in obedience and adoration. Consequently, in both
Testaments it is often shown to be a personal and moral fellowship with God
relevant to every sphere of life.

- David Peterson in ENGAGING WITH GOD: A BIBLICAL THEOLOGY OF WORSHIP,
Apollos, 1992 (1999 reprint), p. 283. David Peterson lectures in New
Testament at Moore College, Sydney, Australia. He is the author of HEBREWS
AND PERFECTION (Cambridge University Press).

[Take a look at Romans 12:1-2 and see what the Apostle Paul says about
acceptable worship.]