The Bible tells us nothing as to how we should worship God, other than the Lord’s Prayer. It tells us to be merciful and pure in heart, but it doesn’t tell us how to accomplish that. It doesn’t even tell us to read the Bible, but to listen.
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I don’t think it’s quite accurate to assert that the Bible says 0.000% about how to worship God.
I think there’s plenty of Scriptural support for worshipping God
1. WHOLEHEARTEDLY
2. WITH ABANDON e.g. David etc.
3. IN SPIRIT AND IN TRUTH
4. NOT IN THE FLESH
5. There’s some measure of evidence that God likes spontaneity at least some of the time—David being one example.
6. With songs, spiritual songs.
7. in tongues—singing with understanding and without
There are plenty of examples of how different people praised God, but other than the Lord's Prayer God does not command us how we should pray.