Worship in Light of God's Nature

In Sermon VI (pp. 111-124), Burroughs sets forth several attributes of God, including that He is Spirit, eternal, an incomprehensible Being, immutable, living, Almighty, omniscient, infinitely wise, holy, merciful, just, and faithful. This is quite a staggering list of characteristics of the God we worship! Burroughs describes how believers should respond in their worship ("Suiting Our Duties") in light of these truths about God. What do we do when we feel so incapable, so unfit, so unworthy to worship when we reflect on who God is? What small steps [because often we can feel overwhelmed, lost, and unable to get out of ruts] can we take to begin to suit our duties to the God we are worshipping?