What is worship?

We read in the scriptures that we should "worship the Father in spirit and in truth" (John 4:23). What does that mean? My church is pretty conservative in a lot of ways, and our services are generally quite restrained.  I know that some of your church functions are markedly different than mine. As I've attended worship services in a variety of churches, I've been surprised at the different ideas about what all worship entails. What are your thoughts? What does it mean to worship God and how should we do it?