“Worship of the living and true God is essentially an engagement with him on the terms that he proposes and in the way that he alone makes possible.”
It immediately calls to my mind Cain and Abel, where Abel's offering was acceptable to the Lord and Cain's wasn't.
On the terms that he proposes.
We don't get to just offer anything we want to God and think or say or hope it's acceptable to him.
We don't get to live our lives by indulging our flesh, or orchestrate our relationships to better serve ourselves, or dictate what we are called to lay down in this life as sacrifices at the altar. He does.
HE decides how we worship him, and we are to then obey.
In the way that he alone makes possible.
Worship is initiated by God. It is a cycle of Revelation and Response. God reveals Himself to us, and we respond with thankfulness, obedience, and joy.
We can be thankful that we have a God who loves us and we don't have to guess at how to appease Him.
He not only tells us HOW to worship Him, He makes it possible through the mediation of Christ on the cross and His resurrection.