Touching the Heart of God

In all the Character and Characteristics of God yet there is one thing that He (God) lacks, he is looking for people who will genuinely worship Him. In John 4 the bible states that God is seeking for they that will worship him in truth and in Spirit. However Worship/Giving Glory to God cannot be summed to the lifting up of hands and saying Glory to God but there are other things that man ought to do to Touch the Heart of God, Jesus in John 17 describes how he has Glorified God, He says I have completed the work that you have sent me to do.