Some things just come naturally, like laughing at the end of a good joke. In fact, it happens so quickly that you don't know when you decided to do it. They occur spontaneously. They just flow out of us.
Worship is supposed to be like that.
It is supposed to be a very natural response to a very powerful stimulus. Worship should be more than a duty or an obligation. He got out of the ark and immediately worshipped God through animal sacrifices. God did not tell him to do it. He wanted to do it.