Make a joyful noise to the Lord, all the earth!
Serve the Lord with gladness!
Come into his presence with singing!
Know that the Lord, he is God!
It is he who made us, and we are his;
we are his people, and the sheep of his pasture.
Enter his gates with thanksgiving,
and his courts with praise!
Give thanks to him; bless his name!
For the Lord is good;
his steadfast love endures forever
and his faithfulness to all generations.Psalm 100 (ESV)
To worship God better we must know God and take up His character. Know that the Lord is God, know that He is good, gracious, steadfast in His love. He is truly worthy of thankful praise and devoted worship.