Jesus said that the first commandment was, “Hear, O Israel: The Lord our God, the Lord is one; and you shall love the Lord your God with all your heart, and with all your soul, and with all your mind, and with all your strength.” (St. Mark 12.29-30)
We seem to forget that last part. We think that worship only occurs in our hearts, souls or minds. We forget that worship involves our strength. Worship has a physical aspect.
Our redemption came through the incarnation of Jesus Christ. If we believe in the incarnation, that God the Son can be embodied in human flesh as Jesus Christ, then we should recognize that worship is not only with the mind but also with the body. We should also recognize the Sacraments as outward and visible signs which convey inward and spiritual grace.
For Christ hath given nothing sensible, but though in things sensible yet all to be perceived by the mind. So also in baptism, the gift is bestowed by a sensible thing, that is, by water; but that which is done is perceived by the mind, the birth, I mean, and the renewal. For if thou hadst been incorporeal, He would have delivered thee the incorporeal gifts bare; but because the soul hath been locked up in a body, He delivers thee the things that the mind perceives, in things sensible. (John Chrysostom, Homilies on Matthew 26)
There are some subjects that are not mentioned in the Bible. There are some things about which God did not chose to reveal to us His holy will. Worship is not one of those things. Worship is revealed on every page of Scripture, from Genesis to Revelation.