First, there needed to be a predominance of God's Word in David's worship. In 1st Chronicles 15:13 we find that in changing the way that the Ark was transported, David confessed to the Levites that the reason Uzza had lost his life earlier was because nobody had consulted God's revelations. Our worship must be biblical.
Secondly, it is obvious that music was central in David's worship celebration. Our worship is best when it is accompanied by, supported with or delivered in song (Colossians 3:16 & Ephesians 5:19). Music is a sacred language with incredible power and influence. It is not just an optional preference for those who are predisposed to appreciate the arts.
The third ingredient here is the inclusion of the sanctified servants of the Almighty. In this case, it was the priests and Levites. Worship, fellowship and the production of pleasure in the heart of Jehovah is a privilege of the children of Abraham.
Finally, don't pass over the presence of joy and sacrifice in this procession (1st Chronicles 15:25 - 26). Worship without those ingredients would surely be hollow indeed.