Worship does not draw or bring us into the presence of God when we are in the presence of God, we worship Him.
“Upon entering the house, they saw the child with his mother Miryam; and they prostrated themselves and worshipped him. Then they opened their bags and presented him gifts of gold, frankincense and myrrh” (Matthew 6:11 CJB)
The bible teaches us that God is the one that draws us to Jesus (John 14:6) and by the blood of Jesus we have been brought near to God Ephesians 2:13). Because of our co-crucifixion and cor-death, and co-resurrection, we have been made one with Jesus (Galatians 2:20). We are not to worship God for a feeling but because of Who He is! He is The Almighty God, The Creator God, The Self-Sacrificing God, The Savior of the world.
Therefore, if anyone is united with the Messiah (Christ), he is a new creation — the old has passed; look, what has come is fresh and new! And it is all from God, who through the Messiah (Christ) has reconciled us to himself and has given us the work of that reconciliation, which is that God in the Messiah (Christ) was reconciling mankind to himself, not counting their sins against them, and entrusting to us the message of reconciliation. Therefore we are ambassadors of the Messiah (Christ); in effect, God is making his appeal through us. What we do is appeal on behalf of the Messiah, (Christ) “Be reconciled to God! (2 Corinthians 5:17-20 CJB)
Those of us who have been reconciled to God have been moved into His presence (Ephesians 2:6) and He has now come to dwell within us, (1 Corinthians 3:16). Therefore, we are always in the presence of God and God is always in our presence (1 Corinthians 6:17) which means we can always worship God as we are going. Even as Paul did while he was in prison, He worshipped God.
Is your worship of God because of Who He is and because you have now been brought into His presence by the Blood of Jesus?