Tozer suggests that one reason for Christ's coming into our fallen world was to make worshippers out of rebels. Adam's sin was to be as God. Man in his pride usurps God's right to be worshipped. Whether men make idols of wood or stone, or the idols of secularism, pleasure, intellectualism, business, politics the basic concept is an assault on the Sovereignty of God. The true worshipper bows the heart before the greatness of God.
Biblical worship endorses such elements as praise and thanksgiving and, at times, exuberant joy.
The singing was probably antiphonal, involving two choirs, or soloist and choir. There is no mention of dance in NT worship and that may well be due to the fact that in Greek and Roman times dancing played a major role in pagan ceremonies. Doubtless among those would have been the Canticles recorded by Luke - those first Christmas hymns, Magnificat, Benedictus, Nunc Dimittus the songs of praise of Mary, Zechariah, Simeon. The whole structure of OT worship is rooted in the sacrificial system. Well of course we know the answers to such longings and questions - we live after Calvary.