God has always regulated worship. He has never left it up to us to come before Him as we please.

Something I have come to call The Romans 10:17 principle, is axiomatic. The passage itself teaches:

So faith comes from hearing, and hearing by the word of Christ.

Several Biblical passages and historical references, aside from our own ‘common sense’, teach us that we do not have the capacity to know what God’s will is for us regarding worship unless He reveals it to us.

In the very first reference to worship in the Bible, Abel brings an offering to God that is acceptable, but his brother, Cain, brings one that is rejected. Hebrews 11:4 teaches us that Abel made his offering by faith, meaning (from Romans 10:17 as quoted above) that Abel made his offering according to the revealed will of God.

In contrast, Cain’s offering was not of faith, but was of his own will, and evil (1st John 3:12). Jude warns of those who despise authority and revile things they do not understand, going as he puts it, in the way of Cain (Jude 8 & 10-11).

Cain’s supposed act of worship was in reality, an act of rebellion. Rather than choosing God’s way, he chose his own way, and was condemned. God Himself telling him all the while, “If you do well, will not your countenance be lifted up?”

Twice in proverbs we read the admonishment:

There is a way which seems right to a man, but its end is the way of death
Proverbs 14:12 & 16:25

Well, so much for allowing ourselves to be guided by what seems right. Better to go by what we know is right or approved of God as He has shown us in His Son’s New Testament.

Don’t follow your heart either, as Jeremiah warns:

The heart is more deceitful than all else and is desperately sick; who can understand it? Jeremiah 17:9

Jesus said the way was narrow and few would find it, Matthew 7:13-14. I don’t believe few would find it because it would be hard to find, but rather because like Cain, they would like the broad way better.