The word worship actually comes from "worthship." It is really beyond mankind's ability to ever understand the worth of God; so therefore, it is beyond his ability to express it. However, as we continue to grow in knowledge of Him, we increase in our ability to worship Him.
The God of the Bible has always shown that he wanted to be close to His people. He is not a God afar off. When Israel was liberated from Egypt and organized into a nation, God had His tent (tabernacle) set up right in the midst. He led them daily and communicated with them freely.
We can get "there" from "here!" We can become like Jesus in devotion to God, in submission of self, in walking confidently in this present world. The route is described for us in the scriptures and the demonstration is clear and graphic.