He who has clean hands and a pure heart, who does not lift up his soul to an idol or swear deceitfully. He shall receive blessing from the LORD, and vindication from the God of his salvation. Such is the generation of those who seek Him, who seek Your face, O God of Jacob.—Psalm 24:4-6
Genuine worship requires a heart of faith and a disposition of obedience to God. It would be difficult for unbelievers to worship the Lord, because they don’t have the Holy Spirit and cannot understand spiritual things (1 Cor. 2:14). Nor does God find worship acceptable from believers who cling unrepentantly to sin (Ps. 66:18). Drawing near to Him requires clean hands and a pure heart, which is possible only through Jesus Christ (Ps. 24:4-6).
The goal of worship is to glorify God, and it begins with our attitude. We must come into His presence with a repentant and humble heart, a mind focused on Him, and a life that demonstrates obedience.