Answered by Sayyidi Habib Umar bin Hafiz (may Allah protect him and benefit us by him)
How do we attain humility (khushu’) in our worship and taste the sweetness of it?
You do this by standing at Allah’s door in the best of ways, remembering Him constantly, reflecting upon your beginning and your return to Him, and reflecting upon the life and states of the Beloved ﷺ