In one of my books (Apocalypse! : 1001 biblical answers to theological questions), I used a question-and-answer format, where the answer to each question was a passage from the Bible. Here are the sections on worship:
Veneration of saints and imitation of saints
Does Saint Paul teach us to imitate him?
Philippians 4: 8-9 (RSV) Finally, brethren, all that is true, all that is honorable, all that is righteous, all that is pure, all that is beautiful, all that is gracious, if there is any excellence, if there is anything worthy of praise, think of these things.  What you have learned and received and heard and seen in me, do it; and the God of peace will be with you.
Doesn’t that undermine the worship of God by competing with it?
1 Corinthians 11: 1 Be imitators [KJV, followers] of me, as I am of Christ.
So Saint Paul sees no contradiction between imitating him and imitating Jesus?
1 Thessalonians 1: 6-7 And you have become imitators of us and of the Lord, for you have received the word in much sorrow, with joy inspired by the Holy Spirit;  so that you have become an example to all believers in Macedonia and Achaia.
Are we taught to worship and imitate the saints of the past?
Hebrews 6:12 so that you are not lazy, but imitators of those who by faith and patience inherit the promises.
Is there an example of honoring or worshiping a person after death?
2 Chronicles 32:33 And Hezekiah slept with his fathers, and they buried him in the coming up of the tombs of the sons of David; and all Judah and the inhabitants of Jerusalem honored him at his death. And Manas’seh his son reigned in his stead.
Do we ever observe the permissible veneration of a living person?
1 Chronicles 29:20 Then David said to the whole assembly, “Bless the Lord your God. And all the assembly blessed the Lord God of their fathers, and bowed their heads, and bowed down [shachah] the Lord, and bowed down [shachah] to the king. [KJV: “worshipped the LORD, and the king”]
Daniel 2: 46-48 Then king Nebuchadnezzar fell on his face, and paid homage to Daniel, and commanded that an offering and incense be offered to him.  The king said to Daniel: “Truly, your God is the God of gods and the Lord of kings, and a revealer of mysteries, for you have known how to reveal this mystery. ”  So the king did Daniel great honor and many great gifts,
Acts 16: 29-31 And he called for lights and rushed forward, and trembling with fear, he fell before Paul and Silas,  and brought them out and said, “Men, what must I do to be saved?  And they said, “Believe on the Lord Jesus, and you will be saved, you and your family.” “
The worship of angels and men as representatives of God
Do we ever see God allowing worship and even bow down to a created angel?
Joshua 5: 13-15 When Joshua was near Jericho, he lifted up his eyes and looked, and behold, a man stood before him, his sword drawn in his hand; And Joshua went to him and said to him, “Are you for us or for our adversaries?”  And he said, “No; but as captain of the Lord’s host I have come now. And Joshua fell face down, and worshiped [shachah], and said to him, “What does my lord say to his servant?”  And the captain of the Lord’s host said to Joshua, “Take off your shoes from your feet; for the place where you stand is holy. And Joshua did.
Is the “angel of the Lord” worshiped?
Numbers 22:31 Then the LORD opened Balaam’s eyes, and he saw the angel of the LORD standing in the way, his sword drawn in his hand; and he bowed his head, and fell with his face to the ground.
It is always good to verify the doctrine with the Bible, for it is the inspired revelation of God to mankind. We see that Catholic teaching is always in harmony with the Bible. But when we follow unbiblical human traditions, we go astray.
Veneration of images
Where do we find a revered or honored physical object, similar to an icon?
Joshua 7: 6-7 Then Joshua rent his clothes, and bowed his face to the earth before the ark of the Lord until evening, he and the elders of Israel; and they got dust on their heads.  And Joshua said, “Alas, O Lord GOD, why hast thou brought this people over the Jordan, to deliver us into the hand of the Amorites, to destroy us? Wouldn’t we be content to live beyond the Jordan!
Did the temple contain statues or carved images, associated and always present during worship?
2 Chronicles 3: 7 So he garnished the house with gold – its beams, its thresholds, its walls and its doors; and he carved cherubim on the walls.
Did the sacrifice and worship take place before the ark of the covenant?
1 Chronicles 16: 1-4 And they brought the ark of God, and put it in the tent which David had pitched for it; and they offered burnt offerings and peace offerings before God.  And when David had made an end of offering the burnt offerings and peace offerings, he blessed the people in the name of the Lord,
 and distributed to all Israel, men and women, to each one a loaf of bread, a portion of meat, and a cake of raisins.  In addition, he appointed some of the Levites as ministers before the ark of the Lord,. . .
Did the Jews worship God by the presence of the supernatural pillar of cloud?
Exodus 33:10 And when all the people saw the pillar of cloud standing at the door of the tent, all the people arose and bowed themselves, each one at the door of his tent.