You know? I've been having trouble with spoken words/whatnot as well. It's really, truly mindless for me. I feel like a robot while I'm singing hymns or repeating prayers that I've said many times before, and so on.
Here's what I try to do now: whenever I pray, I address God directly without changing my normal tone. I literally start with "hey God, it's me." It's more personal and helps tear down the walls that I feel society has put between itself and God.
As for the "words not being able to describe" thing, I see what you mean. However, I find it invigorating to try, and I think God likes it when we do so, as well. You've seen some of my descriptions in my fanfiction: that's all amazement at God's work. It's a form of praise, if you will, and it's heartfelt. I think that as long as that condition is met, you're truly worshiping.