It's one thing to pray, it's another to worship. But it's an entirely different thing to worship from the fullness of the heart, the feeling is beautiful and fulfilling. Having a heart of worship is a grace given by the father and you can ask him to give it to you.
Say this prayer:
Gracious father, the sincere worship of men is pleasing to you. You never despise sincere worship from the heart. Please grant me the grace to obtain a heart of worship and a heart to revere you all day. Give me a heart that worships you in truth and spirit. This is what I desire and I believe you will come through for me, Amen.