Body worship involves paying devoted, reverent attention to a partner's body or specific parts - through kissing, licking, massage, compliments, or simply adoring attention.
While foot, boot, and cock worship have their own terms, body worship can focus on any part - hands, muscles, ass, entire body, or whatever the partners appreciate.
In D/s contexts, worship typically flows from submissive to dominant, reinforcing the dynamic through devoted physical attention. The act of worship itself is the service.
The practice can be intensely connecting - the worshipper focused entirely on their partner's body, the worshipped receiving concentrated attention and adoration.