Service is simply doing an act of kindness to show our love, our appreciation and our thankfulness to God who sent His Son to become a servant. When we serve others, we are serving God. Read Philippians 2:6-11 to discover that Jesus made Himself of no reputation but came to earth to serve.
We should follow the example of Jesus to make ourselves nothing in order to gain everything. Jesus who was already God gave up everything not to be served but to serve. Then when He ascended into heaven, God reinvested unto Him everything He had given up so that at the name of Jesus every knee shall bow and every tongue confess that Jesus is Lord to the glory of God.
We should not wait to be serve. Instead, we should take it upon ourselves to serve other and work in the kingdom of God. How can we say that? Because Jesus did it, we should be willing to do it too.
If you want to experience the presence of God, then serve.