Psalm 95 describes the words of a person who knew how to worship.
You may find two people beside each other in church--both singing the same praise songs, both listening to the Bible reading, both bowing to pray at the same time. Are both truly worshiping God?
May be.
But it is also possible that only one, or neither, is actually worshiping.
In John 4, Jesus was talking to a Samaritan woman who told Him she had her own way of worship (v. 20). He said she didn't know what she worshiped (v. 22). Then He told her, "God is spirit, and those who worship Him must worship in spirit and truth" (v. 24).
When we truly worship God, we are aware of His worthiness in our spirit (the heart, not the place matters). We also recognize His worthiness in truth (your right relationship to Jesus, the Truth, is essential).
Christian worship involves
the object (the worthy God of the Bible),
the worshiper's attitude (a heart right with God) and
faith in God's spoken truth.
Psalm 95:1-7
"O come, let us sing for joy to the LORD,
Let us shout joyfully to the rock of our salvation.
Let us come before His presence with thanksgiving,
Let us shout joyfully to Him with psalms.
For the LORD is a great God
And a great King above all gods,
In whose hand are the depths of the earth,
The peaks of the mountains are His also.
The sea is His, for it was He who made it,
And His hands formed the dry land.
Come, let us worship and bow down,
Let us kneel before the LORD our Maker.
For He is our God,
And we are the people of His pasture and the sheep of His hand"
(0507 29 II 2008)