1 Samuel 1:3 And this man went up out of his city yearly to worship and to sacrifice unto the LORD of hosts in Shiloh. And the two sons of Eli, Hophni and Phinehas, the priests of the LORD, were there.
The first verse has worship and sacrifice linked. It was connected with giving an offering to the Lord. It was honoring God.
1 Samuel 1:19 And they rose up in the morning early, and worshipped before the LORD, and returned, and came to their house to Ramah: and Elkanah knew Hannah his wife; and the LORD remembered her.
Here the worship was before the Lord. They got up early. They honored and magnified God.
1 Samuel 1:28 Therefore also I have lent him to the LORD; as long as he liveth he shall be lent to the LORD. And he worshipped the LORD there.
Hannah gives her son to the Lord. That was worship. The son, Samuel, stayed before the Lord and served God and God’s man.
1 Samuel 15:25 Now therefore, I pray thee, pardon my sin, and turn again with me, that I may worship the LORD.
1 Samuel 15:30 Then he said, I have sinned: yet honour me now, I pray thee, before the elders of my people, and before Israel, and turn again with me, that I may worship the LORD thy God.
1 Samuel 15:31 So Samuel turned again after Saul; and Saul worshipped the LORD.
So worship is paying honor to God. It is bowing down before Him to do Him honor and reverence.
Typically they fell on their knees and put their face on the ground.