When God calls us to worship Him in spirit and in truth what He is saying is that He wants us to worship Him inwardly according to truth, in other words, obedience from the heart, not just outward ritualism.
Romans 6:17 But thanks be to God, that you who were once slaves of sin have become obedient from the heart to the standard of teaching to which you were committed.
Romans 7:22 For I delight in the law of God according to the inward man.
In the old covenant the Law of God, written in stone, governed the outward actions of man, under the new covenant the Law, written on the heart, governs the thoughts of man resulting in outward changes.
Matthew 23:26 "Blind Pharisee, first cleanse the inside of the cup and dish, that the outside of them may be clean also.
When studying the Bible you will find flaws and the short comings of sinful man within it's translations but the Bible itself as a whole with all it's principles and precepts are inspired by God for our instruction of which God will hold us accoutable to.
2 Timothy 3:16-17 All Scripture is given by inspiration of God, and is profitable for doctrine, for reproof, for correction, for instruction in righteousness, that the man of God may be complete, thoroughly equipped for every good work.
By the way, we were created to worship and love God. It's the whole purpose of man's existance.
Ecclesiastes 12:13-14 Here is my final conclusion: fear God and obey his commandments, for this is the entire duty of man. For God will bring every work into judgment, including every secret thing, whether it is good or whether it is evil.