The Upward Dimension.
This third category, which marvelously suns up worship, is described in Hebrews 13:15-16. Verse 15 says, “Through Him then, let us continually offer up a sacrifice of praise to God, that is, the fruit of lips that give thanks to His name.” As we look at worship in its Godward focus, we discover that its distilled essence is simply thanksgiving and praise. With verse 16, the passage brings together all three categories of worship: “And do not neglect doing good and sharing, for with such sacrifices God is pleased.”
Praising God, doing good, and sharing with others—all legitimate, scriptural acts of worship. That draws into the concept of worship every activity and relationship of human living. The implication is that just as the Scriptures are dedicated to the subject of worship from cover to cover, so the believer should be dedicated to the activity of worship, consumed with a desire to use every moment of his life to devote himself to doing good to all, sharing our blessings with our neighbors, and praising God, who is the source of all goodness and every blessing.
-John MacArthur, Worship: The Ultimate Priority, 46.