How do people worship in Tenrikyo?

they sit on their laps with hands together and sing a hym

edited by Luke64

For every morning and evening they do the seated service where they play instruments and sing the Mikagura Uta. Those who aren't playing the instruments, do the hand movements. This is to give thanks for our healthy bodies and remind or selves of the teachings. This is usually done at their own home or a near by church. Every once a month, they attend the monthly service at their parent church or church they are from.

While doing the service, in Japan, most churches and the main sanctuary sit "seiza" or Japanese style seating where you fold your knees in front and you sit on your legs. In some churches, there are chairs for those who can't sit "seiza," other wise they sit how ever they think is comfortable. Outside of Japan, they use chairs in most cases. But the important part is the attitude of giving thanks to God the Parent for the daily blessing we receive each day, since they believe their bodies are borrowed from God the Parent.

Here's a very good explanation for the basic teachings.

http://tenrikyology.com/user/roy/index.php?option=com_content&task=view&id=140&Itemid=14

Anything else could be found by searching in google, "tenrikyo"