You can’t just serve God your own way; there’s a way to serve Him. He has not left us ignorant of the ways of His Kingdom. He gave us His Word and blessed us with the gift of His Spirit so we can know the way He wants us to serve Him in the New Testament. John 4:24 is not a suggestion but a command. So, if you’re a true worshipper of God, it means you must be worshipping in spirit and truth.
You must serve God according to the gospel of His Son Jesus if you must be accepted of Him.
In 2 Samuel 6:1-7, the children of Israel brought the ark of the covenant from captivity but not according to God’s instructions. The ark of God was supposed to be carried on the shoulders of the priests, but out of excitement the Israelites got a brand new cart to carry the ark and two men that weren’t of the house of Levi, namely Uzzah and Ahio, drove the cart. While they danced and clapped, God was upset; while they laughed and sang, God wasn’t smiling at all. Suddenly, the cart stumbled and the ark of God almost tipped over. Uzzah, in an attempt to steady the ark, put his hand on it. The Bible says, “... the anger of the LORD was kindled against Uzzah; and God smote him for his error; and there he died by the ark of God” (2 Samuel 6:7). He died instantly because he should never have touched the ark.
You can’t live a prosperous life in Christ doing your own thing, or what you think is right. Get to know God’s will and His desire through His Word by His Spirit. You can only serve God on His own terms and not yours. Walk in the light of His Word as revealed in the New Testament; live in obedience to His Word and serve Him with all your heart.