John 4:20-26, 22 You worship what you do not know; … 23 But the hour is coming, and now is, when the true worshipers will worship the Father in spirit and truth; for the Father is seeking such to worship Him. 24 God is Spirit, and those who worship Him must worship in spirit and truth…
I have not found a passage that explicitly defines “worshiping God”. When I read scriptures, I see that worship is not limited to singing, praising. In a broad perspective, it can be regarded as directly acknowledging God’s nature, attributes, ways and claims. This can be through outgoing of the heart in praise and thanksgiving, or by the deeds done to honor Him or by marveling at the revelation of Himself. Worship in simple means acknowledging God’s worthiness; ascribing His greatness.
With this passage, worship begins with true knowledge (truth) of “Who” He is, Psa 138:2 “I will worship toward Your holy temple, And praise Your name For Your lovingkindness and Your truth; For You have magnified Your word above all Your name.” This is followed by “how” you worship before you consider “where” you worship. True worship service is where Christ is exalted through us by the Spirit of God.