What Kind of Worship Pleases God?

Have you ever wondered, “What kind of worship pleases God?” Is it about the songs we sing? The way we raise our hands? The volume or style of music? In 2 Samuel 6, we find King David trying to bring the Ark of the Covenant back to Jerusalem. He had the right passion, but he went about it the wrong way. And it cost a man his life.

The Ark represented the manifest presence of God. Wherever the Ark went, miracles happened. The waters parted, the walls of Jericho fell, God’s people experienced victory. It’s no surprise David wanted it near. But worship is not just about passion, it’s about priority, posture, and obedience.

Here are five marks of worship that pleases God:

1. Worship That Is Prayerful

David was a man of prayer, but when it came to moving the Ark, he never asked God how to do it. He consulted commanders instead of the Lord.

“David consulted with all his leaders…” (1 Chronicles 13:1-4) They had a business meeting instead of a prayer meeting!

Mark 11:17 says, “My house will be called a house of prayer for all nations.” Prayer is not filler in a worship service, it’s the fuel. If we want to please God, prayer must be our starting point. Worship that pleases God is saturated in prayer.

2. Worship That Is Biblical

God had already given clear instructions on how the Ark was to be carried: by priests, with poles. But David followed the Philistine example and put it on a new cart. Uzzah reached out to steady it, and God struck him dead.

RC Sproul put it this way: “The dirt had never rebelled against God. Only man had.”

We don’t get to define worship, God already has. If we worship based on our preferences rather than God’s precepts, we risk dishonoring Him. 1 Chronicles 15:13-15 reminds us: “We didn’t inquire of Him about the proper procedures.” Obedience matters.

3. Worship That Is Joyful

Once David realigned with God’s Word, the Ark was brought back with joy.”

David was dancing with all his might before the Lord…with shouts and the sound of the ram’s horn.” —2 Samuel 6:14-15

Worship should engage our whole being: heart, soul, mind, and strength. God is not dull, lifeless, or boring, and our worship shouldn’t be either! Psalm 16:11 says, “In Your presence is fullness of joy.”

We raise our hands like children reaching for their Father. We lift our voices, we kneel, we dance. Not to draw attention to ourselves, but to honor the One who saved us.

4. Worship That Is Sacrificial

“When those carrying the Ark advanced six steps, he sacrificed an ox and a fattened calf.” —2 Samuel 6:13

David spared no expense. Worship always involves giving, our time, our talents, our treasure. Not our leftovers, but our first fruits.

Psalm 96:8 says, “Ascribe to the Lord the glory due His name; bring an offering and come into His courts.” Offerings are not about obligation; they’re about overflow. True worship costs something.

5. Worship That Is Personal

When David returned home, his wife Michal mocked him for his passionate worship. But David wasn’t worshiping for her approval.

“I will celebrate before the Lord…I will humble myself even more.” —2 Samuel 6:21-22

Worship is personal. You can’t decide for someone else how they respond to God, and no one else can define your obedience. Don’t let the voice of criticism silence your song. Remember, Jesus is the fulfillment of the Ark. He is our sacrifice. He bore the judgment so we could be free. Like the man who covered his wife during the hailstorm, Jesus took the blows meant for us, and when we see His scars, we’ll love Him even more.

Are You Ready to Worship in Spirit and Truth?

Maybe you’ve been going through the motions. Maybe your worship has felt lifeless or routine. God is seeking worshipers who will worship in spirit and in truth (John 4:23). Not out of duty, but out of delight. Not to impress others, but to please God. If you’re ready to take a next step in your faith journey, we’d love to walk with you. You’re invited to plan your visit to Liberty Live Church, or fill out our connect card—we’d be honored to get to know you.

Let’s give God the worship He deserves.

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