It is possible to go through motions that are called “worship” (singing, praying, preaching, professing, etc.) without actually worshiping God. It is possible to think you are worshiping God without actually worshiping God.
It is possible to do things for others that are not actually serving in Jesus’ name. It is possible to feed, clothe, care, and heal without doing so in the power that God provides and without giving honor and glory to God through Jesus Christ.
However, it is impossible to actually worship God without serving others. The two go hand in hand.
The Israelites did not understand this connection. So they dutifully carried out the rules and regulations of the sacrificial system while ignoring the needs of the people around them. God did not consider this worship, even though the Israelites thought they were worshiping because they were doing the right things.
In fact, on some occasions, God told them to stop offering sacrifices and stop observing the feasts (that he instituted) until they first learned to care for those around them. (See Isaiah 1:11-17 for one example.)
Similarly, in the NT, we see examples of Christians carrying out the “practices” as they should, but the practices were worthless because they were not caring for the people around them. (See 1 Corinthians 11:17-34 for one example.)
As James wrote, any kind of faith does not include helping a brother or sister who is in need (actually helping by doing something to alleviate that need) is in reality dead faith. John wrote that someone who do not love (in action, not just words) his brother or sister does not love God. These are strong words. We should consider them very carefully.
Also, consider the famous “love chapter” in 1 Corinthians 13. Paul begins by saying that all of our offerings of spiritual gifts (prophesy, tongues, giving, faith,… and you could include any gift here) are nothing if they are not exercised with love. Now, look at his description of love in 1 Corinthians 13:4-7. Everything in that list is related to how we treat other people!
We can close our eyes while we sing. We can rise early in the morning to pray or pray seven times per day. We can listen to sermons all week long. We can teach Sunday school or even preach sermons. We can put vast sums of money into the collection plate or give to support missions. But, if we are not caring for and serving and helping the hurt and lost and needy around us, then we should not call these things “worship.”