Enter into His gates with thanksgiving, and into His courts with praise. Be thankful to Him, and bless His name. Psalms 100:4
In the new testament there are still sacrifices, but they are not the blood of lambs and goats. Jesus' sacrifice was the only sacrifice sufficient to take away sin and He died once for all. One of those is giving ourselves as living sacrifices. Another is the sacrifice of praise which is the fruit of our lips giving thanks to His name. In one sense thanksgivng and praise ushers us into His presence and in another sense they usher his presence in. We don't have to go anywhere to find His presence because God is omnipresent, but when we praise and worship the Lord we experience His presence. He inhabits the praise of His people.