Foundational to the apostle’s thinking about worship is his teaching about humanity’s refusal to glorify and serve God acceptably (1:18–2:29). Here Paul reflects the OT perspective that the knowledge of God should lead to appropriate worship (1:25). Associated with the failure to acknowledge and glorify God is a futility of thinking and a darkening of ‘their foolish hearts’ [1:21]. Humanity is fundamentally impaired at the level of understanding and judgement because of the rejection of the true knowledge of God. It is significant, therefore, that Paul later links the renewing of the mind with the notion of right worship being restored through the work of Christ (12:1-2; cf. 1:28; 2:18).
—David Peterson, “Worship and Ethics in Romans 12,” Tyndale Bulletin 44.2 (1993):276