Matthew 18 : 20
“Where two or three are gathered together in My name, I am there in the midst of them.”
God created us to have a relationship with Him and each other. A family worship, and not necessarily a large group, are also blessed by His presence.
He is right in the midst and part of the group, and not on the periphery, to hear, help, and equip them. His name must be the focus of the group, for that is the only condition.
Just join in His name and receive blessings of His Divine presence with you!