What a complex and beautiful question.  One that has taken millennia to unfold, and will take millenia more to continue the discovery.  It's so simple, and yet ever-changing.  One thing's for sure, whatever "worship" is, God asks us to do it of Him (John 4, Exodus 20, Psalm 95, Psalm 150, Romans 12, Hebrews 12-13, Colossians 3, Ephesians 5, Matthew 4, and so on and so on).