Romans 12:1-2 has a very good definition of worship:
I appeal to you therefore, brothers, by the mercies of God, to present your bodies as a living sacrifice, holy and acceptable to God, which is your spiritual worship. (2) Do not be conformed to this world, but be transformed by the renewal of your mind, that by testing you may discern what is the will of God, what is good and acceptable and perfect.
We learn from this passage that we must give our bodies as a living sacrifice in a holy and acceptable manner to God. This reminds us of Jesus’ instruction to take up our cross daily and follow him. Luke 9:23-24
And he said to all, “If anyone would come after me, let him deny himself and take up his cross daily and follow me. (24) For whoever would save his life will lose it, but whoever loses his life for my sake will save it.
What is a cross for? To be crucified on. How can we crucify ourselves daily? By dying to serving sin and living to God. Romans 6:6-11:
We know that our old self was crucified with him in order that the body of sin might be brought to nothing, so that we would no longer be enslaved to sin. (7) For one who has died has been set free from sin. (8) Now if we have died with Christ, we believe that we will also live with him. (9) We know that Christ, being raised from the dead, will never die again; death no longer has dominion over him. (10) For the death he died he died to sin, once for all, but the life he lives he lives to God. (11) So you also must consider yourselves dead to sin and alive to God in Christ Jesus.
In summary, to truly worship God, we must humbly serve him by giving ourselves to him in body and mind, devoting our lives to his service and turning our back on serving the flesh.