Hebrews 10:22. “Let us draw near with a sincere heart in full assurance of faith, having our hearts sprinkled clean from an evil conscience and our bodies washed with pure water.” This verse has four aspects of how we have to come to worship:
1. With a sincere heart: we have to come to worship God with a heart that is fully ready to give all attention to God. We can’t come with hearts that are full of thoughts about ourselves.
2. In full assurance of faith: we have to come in the full assurance that we have been saved by the work of Jesus Christ, and we are his children. We are part of God’s family, and we have to come to worship with that in mind. When we come together with others who are part of God’s family and are assured that we are part of this family through God’s grace, we can thank and glorify God properly in worship.
3. Having our hearts sprinkled clean from an evil conscience: we must come to worship God, knowing that we are totally unworthy to be in God’s presence, but yet we still can. Even though we sin all the time, God still welcomes us into his presence, and God’s children have no need to feel guilty being in God’s presence because He forgives all of our sins.
4. Our bodies washed with pure water: We have to use God’s Word to examine our lives and see the sins we commit each day. This is something we have to do not just before the Lord’s Supper, but every time we come into God’s presence in worship. We have to confess the sins we see through God’s Word and His work in our hearts, and then we can draw before Him in purity.
You say this is impossible to do? Well you’re right. It’s not possible–in your own strength. That’s why we have God’s grace though. Through His grace we can come into His presence to worship Him with the proper mindset.