What is the actual true worship of God? Good question!
Let's examine what Jesus said to the Samaritan woman. In John 4:21, Jesus implied that true worship would no longer have a designated location to give God this special service. In verse 22, he implies that ignorance of whom, or what you worship is invalid. Paul addressed this issue in Athens ( Acts 17:23 ); he observed an alter with the inscription " To the unknown God " erected in front of their assembly. He said they were guilty of ignorantly worshiping him. The first initial step towards a true worship is to know God. Don't be shocked if I told you there are many individuals that attend local assemblies that confess him, but are far from knowing him. There is a familar expression that many use in reference to the supreme deity of God, and that is " the old man upstairs ". The absolute resolving of this matter is God is not a man ( Numbers 23:19a ).
It's impossible to know whom, what he is, neither have a spiritual relationship with him unless you are a born again word keeper ( I John 2:4-6 ).
In Psalm 150:6, the psalmist indicates that God desires the whole breathing creation to praise him. This indicates that a person does not have to be saved, but, you must be a breathing creature. Jesus tells the woman in verse 23 that the Father is in pursuit of true worshipers. Psalm 150:6 exhorts everything to praise God, But, he does not say that God is in pursuit of praisers. The reason is that all that truly worship God are truthful in their spirits, and have committed their ways to him. Not all that render praises are sincere and born again.
Well, my friend, the last swig of this cup is that true worship is when your spirit bows down and says YES to the Lord's will. To worship the Lord is a 24/7 - 365 day obligation to obey him.