The mission of the Aurora Advent Christian Church in worship is summarized by the following statement: "Our earnest yearning is to love the Lord with all of our hearts our souls, our minds, and our strengths. We therefore humble ourselves in obedience and bring our sacrifice of worship and praise to His throne." We believe that the most important facet of worship is the heart. Worshiping in spirit and truth results from not only a heart centered in Christ but also a heart filled with praise. Currently two worship services are provided from September through May.

• The 8:15 A.M. service is a traditional style service with predominately organ and piano musical accompaniment. Various individuals and small groups provide special music. The worship is centered on worshiping God as creator and on listening to his word as revealed through the pastor's sermon.
• The 10:45 A.M. service incorporates a time of prayer, scripture reading, and the pastor's message supported by a variety of music, including praise and worship songs led by a worship team, plus hymns, choir anthems, and instrumentals by the handbell choirs.  Each Sunday brings a fresh combination of music, scripture, and prayer designed to enhance the pastor's message and enable the body of believers to approach the Lord in their own way.

A Children's Church program for ages 5 through 3rd grade is provided in conjunction with the 10:45 A.M. service. This program, lead by various members of the congregation, includes appropriate music, Bible stories with related craft projects and refreshments. The children attend the first part of the family worship service and leave for Children's Church just prior to the sermon.

A Children Care program is provided during the 10:45 A.M. worship service for children under 5 years of age.

During the summer months (June through August) the schedule differs from the regular schedule. Children's Church is not available during this time. Families are encouraged to worship together.