I think Pope Francis is a good shepherd and has great experience in following people in joyful, but also distressing situations and he knows what he is speaking about when he discusses how to accompany families in their lives toward joy and love.
Worship is a believer's response to God's revelation of Himself. It is expressing wonder, awe, and gratitude for the worthiness, the greatness, and the goodness of our Lord. It is the appropriate response to God's person, His provision, His power, His promises, and His plan.