Worship is a gift, not that we give but that we are allowed to give.
Worship is hindered by sin one has committed toward other people. When one worships while in sin their worship is reduced to vanity and is offensive to God.
True worship is the highest expression on man. It is a reversal of the great command and the second which is like it, to love the Lord you’re God, and love your neighbor, because we first have to love our neighbor before we can approach God and display our love to him in worship.
Furthermore, Jesus said he would receive our love and acceptance of him based on how we loved and acceptance the least of our brethren. So if one does not love his neighbor why would they want to worship God the maker of man?
Worship has been reduced to an individual expression. It has become something one does before God, instead of something that one does before God and man. Worship has been reduced to praise rather that a holistic expression of a life before God. What I mean is that one can sing praise songs for 30min on a Sunday without respect for their actions during the week and consider it worship.
Worship is the command we are privileged to participate in only after we have obeyed his command to love our neighbor.