“Now even the first covenant had regulations for worship and an earthly place of holiness. For a tent was prepared, the first section, in which were the lampstand and the table and the bread of the Presence. It is called the Holy Place. Behind the second curtain was a second section called the Most Holy Place, having the golden altar of incense and the ark of the covenant covered on all sides with gold, in which was a golden urn holding the manna, and Aaron’s staff that budded, and the tablets of the covenant. Above it were the cherubim of glory overshadowing the mercy seat. Of these things we cannot now speak in detail.
These preparations having thus been made, the priests go regularly into the first section, performing their ritual duties, but into the second only the high priest goes, and he but once a year, and not without taking blood, which he offers for himself and for the unintentional sins of the people. By this the Holy Spirit indicates that the way into the holy places is not yet opened as long as the first section is still standing (which is symbolic for the present age). According to this arrangement, gifts and sacrifices are offered that cannot perfect the conscience of the worshiper, but deal only with food and drink and various washings, regulations for the body imposed until the time of reformation.” (Hebrews 9:1–10 ESV)

The Most Holy place was only entered 1x per year on the Day of Atonement by the high priest and he always brought blood to atone for his sin and the sin of the people.  Under the old covenant, access to God in the holy place and the most holy place was restricted to Levitical priests.  People are too sinful to have direct access to God; this is still true today, we are too sinful to have direct access to God without Someone mediating on our behalf.  “According to this arrangement, gifts and sacrifices are offered that cannot perfect the conscience of the worshiper,” (Hebrews 9:9 ESV) under the old covenant the soul of the worshiper was not changed because he could not draw near to God’s mercy & peace.  However, the veil has now been removed and we have direct access to God and new hearts that worship (8:10–12; 9:14; 10:22; also 10:14; 11:40; 12:23).
This “outward,” law driven method of worship was powerless to transform the conscience, heart or life.  Just like then, a rule laden Christianity that is marked by what the worshiper needs to do, how the worshiper needs to act and what the worshiper needs to accomplish is equally powerless to transform the heart or conscience.  We are all built to worship, the only question remaining is what will be the object of our worship.  If you are trying to worship God by performing, then you will always come up short.  The call of scripture is to draw near to God and allow Him to change your heart – allow Him to right your worship.