God wants us to worship Him in spirit and in truth. In order to do this, we need to know the truth as provided by the Bible instead of following our own direction.

This is explicitly stated in John 4:23-24 (NIV):
(23) Yet a time is coming and has now come when the true worshipers will worship the Father in spirit and truth, for they are the kind of worshipers the Father seeks.
(24) God is spirit, and his worshipers must worship in spirit and in truth.

In John 4 (KJV), Jesus is talking to a woman from Samaria:
(23) But the hour cometh, and now is, when the true worshippers shall worship the Father in spirit and in truth: for the Father seeketh such to worship him.
(24) God is a Spirit: and they that worship him must worship him in spirit and in truth.
(25) The woman saith unto him, I know that Messias cometh, which is called Christ: when he is come, he will tell us all things.
(26) Jesus saith unto her, I that speak unto thee am he.

And beyond this, we need to have our whole being in our worship. Our worship cannot be considered to be a once a week duty where we attend a service and then carry on with the rest of our lives without any consideration.

In Matthew 22:36-40 (KJV), a young many asks Jesus what is the greatest commandment:
(36) Master, which is the great commandment in the law?
(37) Jesus said unto him, Thou shalt love the Lord thy God with all thy heart, and with all thy soul, and with all thy mind.
(38) This is the first and great commandment.
(39) And the second is like unto it, Thou shalt love thy neighbour as thyself.
(40) On these two commandments hang all the law and the prophets.

Imagine, the first four commandments which deal with our relationship with God has been summarized into one great commandment, and the last six commandments which deal with our relationship with others has been expanded into the second.

"Worship the LORD your God and Him only shall you serve." (Matthew 4:10 and Luke 4:8—when Christ was tempted by Satan.)

One way to help ensure that we keep the proper focus is to remember what is written Romans 12:1 (KJV):
(1) I beseech you therefore, brethren, by the mercies of God, that you present your bodies a living sacrifice.

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Worship God in Spirit and in Truth