Will worship can be righteous or sinful, depending upon whose will we worship. If we worship God*s will we will do it. If we worship our own will or the will of someone other than God we will do that. Too often, we do our own will rather than the will of God or we do the will of someone else who is not God. When we worship God we do His will and vice versa. When we worship someone or something else we do their will and vice versa. When God saves us He saves us from our own sinful will and the sinful will of other sinful beings. He makes us obedient servants of Himself. If we have not found fault with our own sinful will and found wisdom and blessing in God*s righteous will we do not have a worthwhile salvation. Rejection and disobedience of God*s will are rejection of God. When we receive Christ we must have a desire for His will and when we have a desire for His will we will receive Him. We cannot separate Him from His will. If we try to receive Christ but reject His will we will not receive the real Christ.
Colossians 2:20: Wherefore if ye be dead with Christ from the rudiments of the world, why, as though living in the world, are ye subject to ordinances, 21 (Touch not; taste not; handle not; 22 Which all are to perish with the using;) after the commandments and doctrines of men? 23 Which things have indeed a shew of wisdom in will worship, and humility, and neglecting of the body; not in any honour to the satisfying of the flesh.
Adam Clarke*s commentary on will worship:
What is here termed will-worship, signifies simply a mode of worship which a man chooses for himself, independently of the revelation which God has given. The whole system of Deism is a worship founded in the will or caprices of man, and not in the wisdom or will of God; and it is just as profitable to body and soul as that of which the apostle speaks. God will be served in his own way; it is right that he should prescribe to man the truths which he is to believe, and the ordinances which he is to use. To refuse to receive his teaching in order to prefer our own fancies, is to light a farthing candle as a substitute for the noonday sun. From the beginning of the world God has prescribed the worship which was best pleasing to himself, and never left a matter of such moment to man. The nations which have either not had a revelation, or refused to receive that which God has given, show, by their diversity of worship, superstition, absurdity, and in many cases cruelty, what the state of the whole would have been, had not God, in his infinite mercy, blessed it with a revelation of his will. God has given directions concerning his worship; and he has appointed the seventh day for the peculiar exercises of spiritual duties: other times he has left to man*s convenience; and they abuse the text who say that the appointment of particular times and places for religious service is will-worship. God prescribes the thing, and leaves it to man, except in the case of the Sabbath, to appoint the time and the place; nor is it possible to be too frequent in God*s worship, any more than to be too fervent.
Ephesians 6:5: Servants, be obedient to them that are your masters according to the flesh, with fear and trembling, in singleness of your heart, as unto Christ; 6 Not with eyeservice, as menpleasers; but as the servants of Christ, doing the will of God from the heart;
Romans 12:1: I beseech you therefore, brethren, by the mercies of God, that ye present your bodies a living sacrifice, holy, acceptable unto God, which is your reasonable service. 2 And be not conformed to this world: but be ye transformed by the renewing of your mind, that ye may prove what is that good, and acceptable, and perfect, will of God.
Colossians 4:12: Epaphras, who is one of you, a servant of Christ, saluteth you, always labouring fervently for you in prayers, that ye may stand perfect and complete in all the will of God.
1 Peter 4:1: Forasmuch then as Christ hath suffered for us in the flesh, arm yourselves likewise with the same mind: for he that hath suffered in the flesh hath ceased from sin; 2 That he no longer should live the rest of his time in the flesh to the lusts of men, but to the will of God.
1 John 2:17: And the world passeth away, and the lust thereof: but he that doeth the will of God abideth for ever.
Matthew 6:10b: . . . Thy will be done in earth, as it is in heaven.