The biblical definition of worship is homage (reverence, tribute, adoration) rendered to God. We are to only worship the One True Living God of the Bible. To worship anyone or anything else is sin (idolatry). For instance, we are told in Scripture that when Peter and an angel were given worship, they immediately refused it. (See Acts 10:25-26.)
Revelation 22:8-9 says, “Now I, John, saw and heard these things. And when I heard and saw, I fell down to worship before the feet of the angel who showed me these things. Then he said to me, ‘See that you do not do that. For I am your fellow servant, and of your brethren the prophets, and of those who keep the words of this book. Worship God.’” Again, only God—Father, Son, and Holy Spirit—is worthy of our worship.
There are a multitude of ways that we can worship God!
“And whatever you do in word or deed, do all in the name of the Lord Jesus, giving thanks to God the Father through him” (Colossians 3:17).
“And whatever you do, do it heartily, as to the Lord and not to men” (Colossians 3:23).