I have learned that being loved by God is a sure thing. Having an intimate relationship with Him is dependent upon other factors than His loving me. And learning to hear His voice in order to share His words with others requires yet more involvement from me. As you know, like in any relationship, the time you spend together determines how much you get to know each other, and how deep your relationship can go. How much you actually "listen" to the other person to get to know the things they don't share easily or with everyone means developing trust and mutual love between you. And so also with God.

  The first time worship is mentioned in the Tenach (Old Testament) is when Abraham was going to offer up Isaac as a sacrifice. We're not sure about many aspects of that transaction between God and Abraham, but we do know that Abraham intended to worship before the Lord.
The worship Abraham was talking about is the Hebrew word "Shachah" in Hebrew. It means to prostrate oneself in order to pay homage to God; to bow oneself down or fall down flat on the ground in reverence; to make obeisance or humbly beseech. All throughout the Tenach this is the word consistently and exclusively used for worshipping God. In every instance where worship is mentioned, the worshippers would prostrate themselves in humility before God. It was not an opportunity for singing.
 
The New Covenant uses the Greek word proskuneo when speaking of worship, which means to prostrate oneself in homage, to do reverence to or adore.  It carries the idea of to kiss, like a dog licking his master's hand, the meaning being a kind of loving subservience.  It can also mean to crouch.  So as you can see, the Biblical meaning of worship introduces the idea of deep humility before the Lord, an awe and a reverence that brings us prostrate before Him.
 
Singing to the Lord and dancing before Him can be a spontaneous expression of love for Him,
But the singing is only part of David's relationship with God. There is no doubt that since David was a worshipper, that his times before God alone in the Tabernacle were spent on his face before God, in humble adoration. It is through positioning himself before the Lord in this posture of humility that he most likely received all those wonderful revelations of God that he then was able to put to music. How else could he possibly have learned what he knew about God except from God Himself? 
The apostle Paul, as a Torah observant Hebrew, had a clear understanding of Shachah, of worship as a humbling of oneself in a prostrate position before God. Yet, he exhorts us to "be filled with the Spirit, speaking to one another in psalms and hymns and spiritual songs, singing and making melody with your heart to the Lord."
 
The Bible is filled with instances of songs, both Old and New Covenants, being sung unto the Lord. But again, this is not what the Bible calls worship. Worship (shachah) and praise are both godly ways to respond to God.  We may have prostrated ourselves before the Lord at times when this posture seemed to be called for in His dealings with us. But it may not have been the way we may have generally presented ourselves before the Lord. It changes you to do so. For one thing, it makes one aware that we may have perhaps treated the Holy One a bit too casually. Intimacy is not the same as familiarity. We can be intimate with God in an awed and extremely respectful way so as to give Him the honor due Him. But being familiar allows for a certain casualness that is inappropriate when we're talking about the HOLY One of Israel, the King of the universe.   
 
It is true that one can prostrate their bodies but not their hearts before the Lord. In the same way we can be humble with one another without being meek before the Lord. But if we are meek before the Lord, we are going to be humble with one another. Meekness is defined as ability under submission, or power under control, like a horse under a bit and bridle. When we are meek before the Lord, though we are well able to take matters into our own hands, we defer to the Lord, and respond only to His leading. This is what we are seeking when we come before the Lord in a position of submission and yieldedness. We want to ask Him to create in us true meekness, that we might be entirely obedient to Him. 
 
Humbling ourselves before the Lord as we are discussing goes a long way to finding our true place before Him. The act of taking the position of obeisance and meekness before the Lord has the effect of putting things in their proper perspective. There is a certain sense of rightness to humbling ourselves before Him this way. We are not likely to be demanding or presumptuous in this prone position. Something about being in this position makes us more aware of God Himself.  It's a decision we make to take a lowly position, regarding Him as Sovereign Lord over our lives. When we bow before Him this way, we are acknowledging His authority in our lives. You could think about it as a holy body language that says, "You are my God; I am Yours," You might even want to say that to Him.
 
Ask God to speak to you as to what it is that He would like you to do in your worship time each day. The focus is to let Him be Master. You want to develop such closeness and to become so used to hearing His voice speak to you as you draw near this way, that you will recognize His voice the second He gives you the least command.  We are seeking a new level of awe and respect for God, to know the honor that is due Him. As we draw closer to God He will begin to share the secret things of His heart with you. As you call upon Him, as Jeremiah said, (33:3) "He will tell you great and mighty things which you did not know."
 
Many people have experienced wonderful times of fellowship and even healing and deliverance while doing "carpet time," laying on the floor before the Lord and focusing entirely on Him without saying a word. Times of "soaking" before the Lord while listening to praise and (what we call) worship music has directed our thoughts toward Him and allowed God to have His way in our hearts.  In fact, many have experienced God doing a work in their hearts while they rested on the floor before the Lord that they'd been praying about for years. It's not the floor, of course, but the attitude of the heart in prostrating oneself, or laying oneself out on the floor before the Lord in meekness that is a key to receiving from the Lord.
 
 
http://www.sidroth.org/site/News2?abbr=art_&page=NewsArticle&id=6853&JServSessionIdr012=3r1cbtusf1.app7a
 
This is from Sid Roth