The purpose of the meeting between God and the Hebrews at Mt. Sinai was clearly to establish relationship with them (see Exod. 24:1-8). . . . Christian worship is like Hebrew worship. In worship, God renews his covenant with us. In worship, our relationship to God is deepened and strengthened when the order itself represents God’s speaking to us and God’s saving us through the life, death, and resurrection of his Son.
-Robert Webber, Worship Is a Verb: Celebrating God’s Mighty Deeds of Salvation, Second Edition