Friend onkarah,
How to do Puja and Hindu worship?
Many friends here have discussed the issue; however just would like to add a few from the personal understanding.
Prayer or Bhakti is another WAY.
WAY to merge with that universal, whole, supreme, god, etc.
As have mentioned earlier the merging happens between the individual and the universal when the mind is free of thoughts and as have explained about the workings of *mantras*; similarly prayer/bhakti is another indirect method of merging as in this one is trying to first focus or concentrate with the mind on any likeable image/form to steady the mind and then slowly when the mind gets tired and one remains awake the state is called the state of meditation or YOG in sanatan dharma when the mind becomes free of any thoughts even the form or name is no more there in the mind at that time the individual too is no more and the merging of the individual and the universal happens.
To reach this state one can follow various WAYs depending on the individual's choice.
One can follow Hath yog, bhakti yog, karma yog, raj yog, dyan yoga, etc. etc.
Bhakti yogis are those who do prayers and kirtans [singing hymns] or visit temples and conduct prayers. Praying is not compulsary that one needs to visit temples, one could create his one temple within his house or within his heart. Those who creates temples in their own heart can just pray at any time just by closing their eyes and focusing the image/form of god/universal/ whole/etc. in his heart and start praying.
Dhyan yoga too can be done anywhere, anytime. Dhyan or meditation is the best as one directly brings about awareness of the thoughts and in the presence of awareness/consciousness they shy away thus leaving that space in the mind which is free of thoughts
Love & rgds