How do we worship God? We worship God by acts of faith, hope, and charity, and by adoring Him and praying to Him.
What does faith oblige us to do? Faith obliges us: first, to make efforts to find out what God has revealed; second, to believe firmly what God has revealed; third, to profess our faith openly whenever necessary.
Therefore, everyone who acknowledges me before men, I also will acknowledge him before my Father in heaven. (Matthew 10:32)
Further reading: CCC 2095-2103