Kent set up an altar to help illustrate how Jesus became the final, completing sacrifice to atone for our sins. He pointed out that the grain offering wasn't to cover sins. It was a voluntary act of worship. He brought us to Romans 12:1. The post-Christ grain sacrifice is to present our bodies as living sacrifices.
Eugene Peterson: "The operating Biblical metaphor for worship is sacrifice. We bring ourselves to the altar and let God do to us what He will."
Dallas Willard said you're truly dead to self (not crawling off the altar) if, when you don't get your own way, you aren't surprised, and you're not disappointed."