Now even the first covenant had regulations for worship and an earthly sanctuary. 2For a tent was constructed, the first one, in which were the lampstand, the table, and the bread of the Presence; this is called the Holy Place. 3Behind the second curtain was a tent called the Holy of Holies. 4In it stood the golden altar of incense and the ark of the covenant overlaid on all sides with gold, in which there were a golden urn holding the manna, and Aaron’s rod that budded, and the tablets of the covenant; 5above it were the cherubim of glory overshadowing the mercy seat. Of these things we cannot speak now in detail. 6Such preparations having been made, the priests go continually into the first tent to carry out their ritual duties; 7but only the high priest goes into the second, and he but once a year, and not without taking the blood that he offers for himself and for the sins committed unintentionally by the people. 8By this the Holy Spirit indicates that the way into the sanctuary has not yet been disclosed as long as the first tent is still standing. 9This is a symbol of the present time, during which gifts and sacrifices are offered that cannot perfect the conscience of the worshiper, 10but deal only with food and drink and various baptisms, regulations for the body imposed until the time comes to set things right. 11But when Christ came as a high priest of the good things that have come, then through the greater and perfect tent (not made with hands, that is, not of this creation), 12he entered once for all into the Holy Place, not with the blood of goats and calves, but with his own blood, thus obtaining eternal redemption. 13For if the blood of goats and bulls, with the sprinkling of the ashes of a heifer, sanctifies those who have been defiled so that their flesh is purified,14how much more will the blood of Christ, who through the eternal Spirit offered himself without blemish to God, purify our conscience from dead works to worship the living God! (Hebrews 9:1-14, NRSV)
There was a way prescribed for worship and a setup for the Temple, the house of God.
Only the High Priest was allowed in the Holy of Holies, the place where the Ark was kept which was the throne of God, only once a year and only after purifying himself for the sins unintentionally done by the people. And today we worship in this manner. Because our worship doesn’t purify us. Our worship gets us close to God but does not obtain the perfection that Jesus gets us.
So when we say worship has to be this or that are we feeding our own needs or actually trying to get closer to God?