Worship doesn't take place when we confess that God is the center of the universe, or the center of heaven, but worship takes place when God becomes the center of our heart.
The bible says David was a man after God's own heart. Now we can see why so much praise and worship was produced out of his life, God was the center of his heart.
In verses 8-10, God used Israel as an example as to why they could not worship in a way that pleased Him. He said they do err in their heart, meaning they had vacillated hearts, hearts that wavered between two opinions, hearts that were self-centered and circumstance centered rather than God centered.
James 1:6 says it this way, “But let him ask in faith, nothing wavering. For he that wavereth is like a wave of the sea driven with the wind and tossed.” This person is more subject to circumstances than to God.
Worship stems from a joyful heart that has been the recipient of God's favor.
Verse 1 says we worship because His salvation is toward us, His love and mercy is toward us and we are responding to to his redemptive work.
Worship is before God not man, we are in His presence, amazed by His glory and redemptive work. Even though it is public worship, God has our attention, not our neighbor in church. That's why David could praise God so vigorously in public when the ark was brought back to Jerusalem, he danced before the Lord, not people (2 Samuel 6:14-16).
The question is, why is this type of worship despised in our churches if it is biblical worship - could it be because we err in our heart?
Many in our churches identify worship as a mere location that makes them feel spiritual because they have been a certain place (church). Worship is not limited to a place, it is one responding to a savior's acts of kindness on their behalf.
Jesus told the woman at the well as she looked for her messiah, I am He. Jesus is the first step to proper worship with God the Father.