Entering into worship, one may come boldly. (Hebrews 10:19-20)
One must certainly enter in personal holiness. (I Chronicles 16:29-30; Matthew 5:8)
As we worship in spirit, God's Spirit joins us One with God. (John 4:23-24; John 17:22-24)
Recognize that in the Spirit (and your spirit) you are seated presently in the heavenlies with Jesus, One with Him before the Father. (Ephesians 2:6)
At this point, what happens when we are either on our knees or prostrate before God in worship, is really up to God. Words cannot explain what God derives from worship. It is for God and God alone. It is for His glory. The "benefit", if you will, that you come away with, is the knowledge of His present service.
God will give you some truth and some service as you commune with Him. (John 4:23-24; Romans 11:36 - 12:2)
God will teach you some truth that no man can give you. (1 John 2:27)
That service is the knowledge of His present will. Take heed that you do not delay in doing it. Once God has commanded it, filled you with His Spirit for it, and enabled you through His spiritual gift(s), go and do the thing. If you don't, you will find yourself stuck in some kind of spiritual mire. Oswald Chambers often reminds us of this in his daily readings of "My Utmost for His Highest".
Rejoice in the total consumption of your living sacrifice. Make it also a sacrifice of thanksgiving (Leviticus 22:29) and praise (Jeremiah 33:11; Hebrews 13:15).
After the doing of His present will, go back and worship again, for He is worthy.
I say this to your encouragement and warning. I had two things to do that God willed for me. Rather than do them presently, I delayed for a week. It was painful. I am learning to move on, to instantly obey, to fear the LORD and love Him with my whole heart and keep Him in all my thoughts. Grace be unto you saints. Awake unto righteousness and sin not. Be ready at all times for His appearing.