This sermon explores the importance of worship as preparation for eternal life with God. It emphasizes that our earthly worship reflects and anticipates the continuous praise occurring in heaven. Pastor Andrew discusses the need to prioritize our lives according to God's truth, guided by the Holy Spirit, and how our current worship practices are a reflection of heavenly worship described in Revelation. The sermon also highlights the significance of hymns, particularly "Praise to the Lord, the Almighty," in expressing adoration for God's nature beyond just His actions.