Worship and Prayer are two words often used interchangeably, but they are not the same.

A Prayer

Prayer is a solemn expression to God to thank Him or to request something from Him.
Prayer can be performed anytime, anywhere, by yourself, or in large groups.

Worship

Worship is the feeling or expression of reverence and adoration for God.
Worship consists of  crisply defined and structured ceremonies, of which Prayer and music are a part.

When you join full-throated with the choir and congregation, 

belting out The Sanctus:

Holy, holy, holy Lord, God of power and might,
heaven and earth are full of your glory.
Hosanna in the highest.
Blessed is he who comes in the name of the Lord.
Hosanna in the highest.

Does it not stir your soul?