Theology Tuesday: How to Worship?

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Dr. John Piper recently wrote:

We worship God authentically when we know him truly and treasure him duly.

How are we to worship God according to the Bible? Or, does it really matter? I mean, as long as we are clear in conscience, does it matter how we worship?

For a great overview of what God looks for from His worshippers, please see this article by Pastor K.V. Paxton:

            http://ftc.co/blog/posts/worship-according-to-habakkuk