The following is an excerpt from a samvaad (dialogue) session with Acharya Prashant.
Acharya Prashant (AP): Upāsanā is not worship. Upā-Āsanā means sitting close, being close. Āsanā means position — your position the place where you are. It is related to Aṣṭi, Aṣṭi means existence. Upā means close. So, being close is Upāsanā — Upā-Āsanā.