Does it matter HOW we worship God?

Is there a way to actually worship God in an inappropriate manner? Does God care about HOW we worship Him just as much as He does that we simply worship Him?
Uzziah was the King of Israel whose reign started when he was sixteen years old and lasted 52 years. Over time, this faithful king grew complacent and developed a sense of pride in that he was “untouchable” and could do whatever he wanted to do. In 2 Chronicles 26, we find the story of how he acted impatiently and presumptuously and incurred that anger of the Lord.
2 Chronicles 26:16 says, “But when he was strong, he grew proud, to his destruction. For he was unfaithful to the LORD his God and entered the temple of the LORD to burn incense on the altar of incense. “ This was a grievous offense for only the priests were ordained by God to enter the temple and offer sacrifices. No king, no matter how long he had served, was given permission to do this. Yet, in his arrogance, he thought that he could break God’s commands and just casually enter the temple himself.

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