I believe worship is primarily presenting our bodies a living sacrifice (Romans 12:1) before God. Worship is surrendered presentation of our bodies, an out poured soul and an entering into the joy – sometimes ecstasy- of the Holy Spirit’s rejoicing in the finished work of Christ. He spends all His time rejoicing and we enter into that when we worship.
Corporate worship is something better again. This is worship together, ascending to the assembly of the first born in heaven, the spirits of just men made perfect and, again, the blood that speaks a better thing than Abel’s did – the vengeance was poured out on Christ and now, His blood, forgive them, oh forgive, it cries!
18 You have not come to a mountain that can be touched and that is burning with fire; to darkness, gloom and storm; 19 to a trumpet blast or to such a voice speaking words that those who heard it begged that no further word be spoken to them, 20 because they could not bear what was commanded: “If even an animal touches the mountain, it must be stoned to death.”[c] 21 The sight was so terrifying that Moses said, “I am trembling with fear.”[d]
22 But you have come to Mount Zion, to the city of the living God, the heavenly Jerusalem. You have come to thousands upon thousands of angels in joyful assembly, 23 to the church of the firstborn, whose names are written in heaven. You have come to God, the Judge of all, to the spirits of the righteous made perfect, 24 to Jesus the mediator of a new covenant, and to the sprinkled blood that speaks a better word than the blood of Abel.
25 See to it that you do not refuse him who speaks.
So when we worship together we join angels and others worshiping around the world as well as those who have died in Christ. But our focus is on the mercy seat where the blood is sprinkled (Daniel 7:13,14) and the Father is satisfied and comforted in the work His Holy Spirit is doing in His creation. For He is making us those who lift Him up, he sits enthroned on our praises (Psalm 22:3).