God inhabits the praises of His people and our praises are a sacrifice unto him (not that it's a burden for us .... It's an offering to him .... Like a sacrifice in the Old Testament).
When we offer our hearts in repentance and complete surrender - it becomes our sacrifice of worship.
When we live our days in obedience - they become a sacrifice (or offering) to Him.
He comes down and consumes the sacrifice just like in the Old Testament!
A repentant heart is what connects us to Him and an obedient heart keeps us on the alter.
We know "a broken and a contrite spirit He will not despise!"
We must decrease so that He can increase - that is Worship .... Laying it all down in surrender - whatever pleases the King, to find favor in his site!