Stephen Charnock has some powerful things to say about worship in his “Existence and Attributes of God.” Here he establishes the purpose of our restoration in salvation as spiritual worship:
To have a spiritual worship is God’s end (purpose) in the restoration of the creature, both in redemption by His Son and sanctification by his spirit. A fitness for spiritual offerings was the end of the ‘coming of Christ’ (Mal. 3:3); He should purge them as gold and silver by fire, a spirit burning up their dross, melting them into a holy compliance with and submission to God. To what purpose? That they may offer to the Lord an offering in righteousness; a pure offering from a purified spirit; He came to ‘bring us to God’ (1 Peter 3:18) in such a garb, as that we might be fit to converse with Him.
Can we be thus, without a fixedness of our spirits on Him? The offering of spiritual sacrifices is the end of making any a ‘spiritual habitation’ and a ‘holy priesthood’ (1 Peter 2:5). We can no more be worshippers of God without a worshipper’s nature, than a man can be a man without a human nature.