If God wants us to pray a certain way He must want us to worship a certain way. Scholars call that the “Regulative Principle”. Because He loves us and because He is holy and we are not God regulates how His people come to Him and worship.
The type of congregational worship God prefers is worship that is loud and joyful brought to Him with a heart of thankfulness and honor. This kind of worship says that our love for Him and our happiness in Him transcends every other thing in this life that makes us unhappy. We must remember that God demands and deserves this type of worship from us for which the gospel must always be our motivation.