The Creator intended for Adam to pass on to his offspring God’s Likeness, Image, and Nature. When Adam failed, because of sin, God sent His only begotten Son to restore in mankind EVERYTHING Adam had lost, which was God’s spiritual DNA (Divine Nature and Authority, which include but are not limited to His Power and His Will). These Divine Truths are why it is only by way of the Holy Spirit that God’s Kingdom on Earth is able to manifest righteousness, peace, and joy, and this manifestation happens only when those individuals who have God’s spiritual DNA are functioning as the holy, righteous, and spiritually wealthy royal kings and queens God has raised them in Christ Jesus to be.
When we worship God in spirit and truth, this kind of worship is not with our bodies (our raised arms and hands, or bended knees, or praying hands, or dancing bodies, or musical instruments, or the songs we sing during a worship service). All of that kind of worship is the sensuous (the Old Testament’s way of worshipping God, which is outwardly and earthly). Under the New Testament’s covenant of Grace, believers in Christ worship God in a true and spiritual way, in particular inwardly and heavenly.