If you’re not interested in many academic details, or if you only have 1 minute instead of 5-10, here is a condensed version of what will appear in full form in a few hours.
When the word "worship" appears in a Bible verse, one should ask what is behind that English word. The answer to this question depends on the specific verse. In order to understand, both the Greek vocabulary and the literary context must be considered.
According to Karen Jobes,¹ a list of eight Greek expressions constitutes the "semantic domain" for worship (and service).
Romans 12:1-2 refers to OT priestly service, and this text does not correlate directly to what believers generally put in the (vertical) worship category.
Even proskuneō (the most common Greek word translated "worship") does not always mean "worship" in a spiritual sense. Comparing Matt 2:11 and John 4 reveals the likelihood that this vertical-worship word has two different senses.
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¹ PhD, Biblical Hermeneutics, Westminster Theological Seminary