If you wait until you feel motivated to worship, you might be waiting a long time.
If you are remotely inclined to communicate with God, you might find that words fail and you have nothing to say... What these psalms do is straighten the trajectory of our lives. Using the words he gives us, God gently turns our hearts toward him. Instead of everything bending back into ourselves, we are able to look straight, outside of ourselves, and fix our eyes on Jesus.1 Edward T. Welch, Depression: A Stubborn Darkness, Light for the Path. Welch's comments echo what the author of Hebrews is getting at: “Therefore, since we are surrounded by so great a cloud of witnesses, let us also lay aside every weight, and sin which clings so closely, and let us run with endurance the race that is set before us, looking to Jesus, the founder and perfecter of our faith, who for the joy that was set before him endured the cross, despising the shame, and is seated at the right hand of the throne of God.” ~ Hebrews 12:1-2.