When Jesus was speaking with the woman at Jacob's well about her adulteress relationship and her past husbands, he explained to her more rightly the truth about worshiping God.
 

The woman said to Him, “Sir, I perceive that You are a prophet. Our fathers worshiped in this mountain, and you people say that in Jerusalem is the place where men ought to worship.” Jesus said to her, “Woman, believe Me, an hour is coming when neither in this mountain nor in Jerusalem will you worship the Father. You worship what you do not know; we worship what we know, for salvation is from the Jews. But an hour is coming, and now is, when the true worshipers will worship the Father in spirit and truth; for such people the Father seeks to be His worshipers. God is spirit, and those who worship Him must worship in spirit and truth.” (John 4:19-24)

 

  
It is clear from Jesus' explanation that worship is not something that happens in a specific place, but something that happens out of a pure heart. Praise, adoration, thanksgiving, and joy are characteristics of true worshipers and should be a part of our lives every single day. Of course, there are also special times when we have an opportunity to worship together which is a gift and blessing as we come together to encourage and support each other. Jesus prayed to the Father about the unique bond we have with Him and each other and desired that we live in unity:
  “Sanctify them in the truth; Your word is truth. As You sent Me into the world, I also have sent them into the world. For their sakes I sanctify Myself, that they themselves also may be sanctified in truth. I do not ask on behalf of these alone, but for those also who believe in Me through their word; that they may all be one; even as You, Father, are in Me and I in You, that they also may be in Us, so that the world may believe that You sent Me. The glory which You have given Me I have given to them, that they may be one, just as We are one; I in them and You in Me, that they may be perfected in unity, so that the world may know that You sent Me, and loved them, even as You have loved Me." (John 17:17-23)