Pastor John from 2008:
The essential, vital, indispensable, defining heart of worship is the experience of being satisfied with God. This satisfaction in God magnifies God in the heart. This explains why the apostle Paul makes so little distinction between worship as a congregational service and worship as a pattern of daily life. They have the same root – a passion for treasuring God as infinitely valuable. The impulse for singing a hymn and the impulse for visiting a prisoner is the same: a thirst for God – a desire to experience as much satisfaction in God as we can.
Excerpted from Gravity and Gladness on Sunday Morning, Part 1.