Does God hear and accept our worship

I think it's time to go back to the scriptures and research God's definition of worship. I encourage you to do your own digging into this topic because you may end up in a curious position. Does God even acknowledge what we define or demonstrate as worship or are we so far out in left field that God doesn't even bother to show up and accept the sacrifice of worship? This thought struck me heavily today because if I am just going through the motions and my motions are not showing up before God as sincere and in accordance with His definition, then they are just motions. So why would He show up? Hmmmmm....Father can you hear me? Will you teach me about worship? And once you teach me, will you accept my worship at your altar.