True worship is in a known relationship, praising, adoring, thanking, blessing God, in the consciousness of His favor, in His presence as those brought in by the work of Christ, both cleansed and according to the value and savor of His sacrifice. Worship is in a known relationship of present favor and grace wherein we stand, so that we joy in God and, I may add, are before the Father who Himself loves us.
It is the outgoing of heart, delighting in God and adoring Him for all that He has done when we think of that, but it flows from what He is to us. And we are actually in His presence, never forgetting surely how we got there, for He has been manifested. In that we have learned love and righteousness and holiness there, but as within, praising Him whom we have found, in our present relationship to Him.
J. N. Darby