At a youth camp, the camp pastor told us how much he missed his son Noah. He asked if we would be willing to sing to his son over his cell phone. So together we sang his son's favorite song. After the camp pastor told Noah good-bye, he told us nothing could have made him happier than when we sang to his son.
He then said that is what it means to worship. Worship is pleasing God the Father by singing to his Son.