How is it possible that sinners like you and me can worship God? R. C. Sproul answers this way:
God’s thoughts are pure; my thoughts are impure. God’s actions are perfect; my actions are imperfect. That is why I need a Savior. That is why my spirit rejoices in God my Savior! A personal, spiritual God has provided a personal, spiritual redemption for me. Salvation involves the reconciliation of a relationship. To be saved means to be restored to fellowship with the living God. Fellowship is a personal relationship. I cannot be reconciled to an empty force; I cannot be estranged from a nameless power.
Because God is a spirit, I can have sweet communion with Him. I can think about His sweetness and have my emotions moved by His majesty. I can offer my choices, my willful decisions to Him. I can worship Him.
Worship is not only possible by necessary. God requires worship from us, but not any kind of worship will do. God is greatly concerned about the kind of worship we offer to Him. Jesus did not stop after declaring to the Samaritan woman that God is a spirit. He went on to say, “And those who worship Him must worship in spirit and truth” (John 4:24).R. C. Sproul, One Holy Passion