Here is an excellent definition of authentic worship
"Luther speaks of this difference not only when explaining passages in which the terms Law and Gospel occur, but wherever he has an opportunity to preach these 'two subjects.' 'The Law tells us what we are to do and charges us with not having done it, no matter how holy we are. Thus the Law makes me uncertain; it chases me about and thus makes me thirsty.'
Now, when Christ invites those who thirst, He means such as have been crushed under the hammer-blows of the Law. Directly Christ invites only these to come to Him; indirectly, indeed, He invites all men. A person thus thirsting is not to do anything but drink, that is, receive the consolations of the Gospel. When a person is really thirsty and is handed but a small glass of water, how greatly refreshed he feels. But when a person is not thirsty, you may fill one glass of water after the other for him, and it will do him no good; it will not refresh him."