In this brief clip, Sam Waldron says that there is a distinct difference between a "life of worship" and corporate worship. He says that God never told Moses how to order his tent but He did give him instructions on how to order the tent of the Lord. 

We have this saying going around today, all of life is worship. Well, it's at best a half-truth if that. All of life is not worship in the same sense that the church gathers for corporate worship. And I always illustrate it this way, you know, God never told Moses what furniture to put in his tent or how to arrange the furniture in his tent. There were certain moral principles that of course regulated how Moses ordered his tent, but God never told him how to arrange the furniture.

But there is another tent, and we have chapter after chapter in Exodus and throughout the Pentateuch that tells us exactly how God wanted His tent ordered. This is the difference. There's a difference between our tent and the regulative principle of worship and how he regulates the worship that takes place in his tent.