Is worship just to God?

Jeremiah Burroughs is clear on page 91 that worship is for God alone.  But God doesn't need our worship; He simply deserves it.  It is only fitting for us to give Him credit for everything He is and everything He does, but is that for His benefit, or ours?  I know the New Testament has some places that seem like corporate worship is for the purpose of singing to each other.  Does that take away from the God-alone purpose of worship?  Are they mutually exclusive?