ANSWER: The first thing we need to consider before we approach the Creator of the universe is our attitude. Jesus told the woman at the well, recorded in John 4, something profound in this regard. He states that those who wish to worship God MUST do so in spirit and in truth (John 4:24).
Many scriptures command that we reverence God such as Genesis 35:1, Exodus 15:1, 1Chronicles 16:29, Haggai 1:8, Mark 1:44 among several others. There are at least SEVEN types or ways of worshipping in scripture.
Praise and Thanksgiving
We can worship our Creator through a grateful declaration, either in public or private. This declaration can also be made through prayer (Ephesians 5:20).
A very special praise and thanking to the Lord took place when Solomon completed the temple, with voices and MANY instruments of music praising the God of heaven (2Chronicles 5:13).
We can worship our Maker through songs like the Psalms. King David especially called on people to make a joyful shout to the Lord and to come before him with singing on our lips (Psalm 100:1-2, see also James 5:13 and Colossians 3:16).
King David not only offered sacrifices to God when the Ark of the Covenant was brought to Jerusalem, he also danced (1Samuel 6:12 - 14)! There was dancing for joy when the sea, through a miracle, killed Pharaoh and his army as they were pursuing the fleeing children of Israel (Exodus 15:20 - 21).
Observing annual feast days
Jesus observed the Feast of Passover during his entire ministry (Matthew 26:17). He also faithfully kept, as his disciples and family did, the Feast of Tabernacles (John 7:2, 10). The disciples even worshipped by keeping the Day of Pentecost after Jesus had died and rose from the grave (Acts 2:1).
Cheerful help to others
God especially loves those who help others not grudgingly or of necessity but out of a willing heart of service and love (2Corinthians 9:7, 8:1 - 2, Acts 2:44 - 45).
Using our spiritual gifts
We can, in a very real sense, worship God by using the natural and supernatural-given gifts he gave us to serve as many people as we can (1Corinthians 12:1, 4-7, see also Ephesians 4:7, 11-13, 15-16).
Be a living sacrifice
1 So then, my friends, because of God’s great mercy to us I appeal to you: Offer yourselves as a living sacrifice to God (Romans 12:1)
May you be richly blessed as you worship Him in "spirit and in truth" (John 4:24).