Psalm 141:1-2
[1] LORD, I cry unto thee: make haste unto me; give ear unto my voice, when I cry unto thee.
[2] Let my prayer be set forth before thee as incense; and the lifting up of my hands as the evening sacrifice.
Incense was burned continually along with two lambs slain each day for the morning and evening sacrifice for the atonement of sin. David saw down through the ages how prayer and worship would change from a physical to a spiritual sacrifice. Now with Christ as our high priest we can offer our own offerings to God (as well as a group of believers!).
Jeremiah 33:10-11
[10] Thus saith the LORD; Again there shall be heard in this place, which ye say shall be desolate without man and without beast, even in the cities of Judah, and in the streets of Jerusalem, that are desolate, without man, and without inhabitant, and without beast,
[11] The voice of joy, and the voice of gladness, the voice of the bridegroom, and the voice of the bride, the voice of them that shall say, Praise the LORD of hosts: for the LORD is good; for his mercy endureth for ever: and of them that shall bring the sacrifice of praise into the house of the LORD. For I will cause to return the captivity of the land, as at the first, saith the LORD.
There is something to be said about a God-honoring thank offering: it is a sacrifice from you that is not required. Being thankful for the blessings in your life is something you choose to do!
Hebrews 13:15-17
[15] By him therefore let us offer the sacrifice of praise to God continually, that is, the fruit of our lips giving thanks to his name.
[16] But to do good and to communicate forget not: for with such sacrifices God is well pleased.
[17] Obey them that have the rule over you, and submit yourselves: for they watch for your souls, as they that must give account, that they may do it with joy, and not with grief: for that is unprofitable for you.
Our sacrifice is the fruit of our lips. We do this not because we have to but it is because we want to, right? As God has blessed each and every one of us with the abundance of life and salvation, the thankfulness and gratefulness should be bubbling out of us (as rivers of living water). Honoring God is one of the greatest ways He can be lifted up and known to the world!